//==============================================================================
Eigen::VectorXd Recording::getConfig(int _frameIdx, int _skelIdx) const
{
int index = 0;
for (int i = 0; i < _skelIdx; i++)
index += mNumGenCoordsForSkeletons[i];
return mBakedStates[_frameIdx].segment(index, getNumGenCoords(_skelIdx));
}
void Joint::setDampingCoefficient(int _idx, double _d)
{
assert(0 <= _idx && _idx < getNumGenCoords());
assert(_d >= 0.0);
mDampingCoefficient[_idx] = _d;
}
Eigen::VectorXd Joint::getDampingForces() const
{
int numDofs = getNumGenCoords();
Eigen::VectorXd dampingForce(numDofs);
for (int i = 0; i < numDofs; ++i)
dampingForce(i) = -mDampingCoefficient[i] * getGenCoord(i)->get_dq();
return dampingForce;
}
double Joint::getDampingCoefficient(int _idx) const
{
assert(0 <= _idx && _idx < getNumGenCoords());
return mDampingCoefficient[_idx];
}