ControlledObject.cpp

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/* $Id: ControlledObject.cpp 35155 2011-02-25 11:45:16Z jesterking $
 * ControlledObject.cpp
 *
 *  Created on: Jan 5, 2009
 *      Author: rubensmits
 */

#include "ControlledObject.hpp"


namespace iTaSC {
ControlledObject::ControlledObject():
    Object(Controlled),m_nq(0),m_nc(0),m_nee(0)
{
        // max joint variable = 0.52 radian or 0.52 meter in one timestep
        m_maxDeltaQ = e_scalar(0.52);
}

void ControlledObject::initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee)
{
        assert(_nee >= 1);
        m_nq = _nq;
        m_nc = _nc;
        m_nee = _nee;
        if (m_nq > 0) {
                m_Wq =  e_identity_matrix(m_nq,m_nq);
                m_qdot = e_zero_vector(m_nq);
        }
        if (m_nc > 0) {
                m_Wy = e_scalar_vector(m_nc,1.0);
                m_ydot = e_zero_vector(m_nc);
        }
        if (m_nc > 0 && m_nq > 0)
                m_Cq = e_zero_matrix(m_nc,m_nq);
        // clear all Jacobian if any
        m_JqArray.clear();
        // reserve one more to have a zero matrix handy
        if (m_nq > 0)
                m_JqArray.resize(m_nee+1, e_zero_matrix(6,m_nq));
}

ControlledObject::~ControlledObject() {}



const e_matrix& ControlledObject::getJq(unsigned int ee) const
{
        assert(m_nq > 0);
        return m_JqArray[(ee>m_nee)?m_nee:ee];
}

double ControlledObject::getMaxTimestep(double& timestep)
{
        e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff();
        if (timestep*maxQdot > m_maxDeltaQ) {
                timestep = m_maxDeltaQ/maxQdot;
        }
        return timestep;
}

}