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add mbc member 'bodyAccW' #74

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add mbc member 'bodyAccW' #74

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3 changes: 2 additions & 1 deletion src/RBDyn/MultiBodyConfig.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ namespace rbd
MultiBodyConfig::MultiBodyConfig(const MultiBody & mb)
: q(mb.nrJoints()), alpha(mb.nrJoints()), alphaD(mb.nrJoints()), force(mb.nrBodies()), jointConfig(mb.nrJoints()),
jointVelocity(mb.nrJoints()), jointTorque(mb.nrJoints()), motionSubspace(mb.nrJoints()), bodyPosW(mb.nrBodies()),
parentToSon(mb.nrBodies()), bodyVelW(mb.nrBodies()), bodyVelB(mb.nrBodies()), bodyAccB(mb.nrBodies()),
parentToSon(mb.nrBodies()), bodyVelW(mb.nrBodies()), bodyAccW(mb.nrBodies()), bodyVelB(mb.nrBodies()), bodyAccB(mb.nrBodies()),
gravity(0., 9.81, 0.)
{
for(int i = 0; i < static_cast<int>(q.size()); ++i)
Expand Down Expand Up @@ -367,6 +367,7 @@ void checkMatchBodyVel(const MultiBody & mb, const MultiBodyConfig & mbc)

void checkMatchBodyAcc(const MultiBody & mb, const MultiBodyConfig & mbc)
{
checkMatchBodiesVector(mb, mbc.bodyAccW, "bodyAccW");
checkMatchBodiesVector(mb, mbc.bodyAccB, "bodyAccB");
}

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6 changes: 5 additions & 1 deletion src/RBDyn/RBDyn/MultiBodyConfig.h
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Expand Up @@ -61,6 +61,9 @@ struct RBDYN_DLLAPI MultiBodyConfig
/// Bodies speed in world coordinate.
std::vector<sva::MotionVecd> bodyVelW;

/// Bodies acceleration in world coordinate.
std::vector<sva::MotionVecd> bodyAccW;

/// Bodies speed in Body coordinate.
std::vector<sva::MotionVecd> bodyVelB;

Expand Down Expand Up @@ -220,7 +223,8 @@ RBDYN_DLLAPI void checkMatchParentToSon(const MultiBody & mb, const MultiBodyCon
/// (mbc.bodyVelW, mbc.bodyVelB).
RBDYN_DLLAPI void checkMatchBodyVel(const MultiBody & mb, const MultiBodyConfig & mbc);

/// @throw std::domain_error If there is a mismatch between mb and mbc.bodyAccB.
/// @throw std::domain_error If there is a mismatch between mb and
/// (mbc.bodyAccW, mbc.bodyAccB).
RBDYN_DLLAPI void checkMatchBodyAcc(const MultiBody & mb, const MultiBodyConfig & mbc);

/// @throw std::domain_error If there is a mismatch between mb and mbc.jointConfig.
Expand Down