Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

1 files changed, 43 insertions, 0 deletions

diff --git a/intern/itasc/UncontrolledObject.cpp b/intern/itasc/UncontrolledObject.cpp
new file mode 100644
index 00000000000..e05a8682d20
--- /dev/null
+++ b/intern/itasc/UncontrolledObject.cpp
@@ -0,0 +1,43 @@
+/* $Id: UncontrolledObject.cpp 19907 2009-04-23 13:41:59Z ben2610 $
+ * 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];
+}
+
+
+
+}