47 lines
842 B
C++
47 lines
842 B
C++
/** \file itasc/UncontrolledObject.cpp
|
|
* \ingroup itasc
|
|
*/
|
|
/*
|
|
* UncontrolledObject.cpp
|
|
*
|
|
* Created on: Jan 5, 2009
|
|
* Author: rubensmits
|
|
*/
|
|
|
|
#include "UncontrolledObject.hpp"
|
|
|
|
namespace iTaSC{
|
|
|
|
UncontrolledObject::UncontrolledObject():Object(UnControlled),
|
|
m_nu(0), m_nf(0), m_xudot()
|
|
{
|
|
}
|
|
|
|
UncontrolledObject::~UncontrolledObject()
|
|
{
|
|
}
|
|
|
|
void UncontrolledObject::initialize(unsigned int _nu, unsigned int _nf)
|
|
{
|
|
assert (_nf >= 1);
|
|
m_nu = _nu;
|
|
m_nf = _nf;
|
|
if (_nu > 0)
|
|
m_xudot = e_zero_vector(_nu);
|
|
// clear all Jacobian if any
|
|
m_JuArray.clear();
|
|
// reserve one more to have an zero matrix handy
|
|
if (m_nu > 0)
|
|
m_JuArray.resize(m_nf+1, e_zero_matrix(6,m_nu));
|
|
}
|
|
|
|
const e_matrix& UncontrolledObject::getJu(unsigned int frameIndex) const
|
|
{
|
|
assert (m_nu > 0);
|
|
return m_JuArray[(frameIndex>m_nf)?m_nf:frameIndex];
|
|
}
|
|
|
|
|
|
|
|
}
|