UncontrolledObject.cpp

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/* SPDX-FileCopyrightText: 2009 Ruben Smits
 *
 * SPDX-License-Identifier: LGPL-2.1-or-later */

 
#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];
}
 
 
 
}