Limp.h

#ifndef LIMP_H_
#define LIMP_H_

namespace margait_contrib
{

class Limp;

extern Limp operator*(const double scalar, const Limp& l);
extern Limp operator*(const Limp& l, const double scalar);
extern Limp operator/(const double scalar, const Limp& l);
extern Limp operator/(const Limp& l, const double scalar);


class Limp
{
public:

    double C;
    double x0, v0;

    Limp();
    Limp(double x, double v, double C);
    ~Limp(){};

    void set(double x, double v);
    void set(double x, double v, double C);

    Limp predict(double time);
    void update(double time);
    void simUpdate(double time);
    void reset();

    double energy();
    static double energy(double x, double v, double C);
    double tLoc(double x);
    double tVel(double vx);
    double vx(double x);
    double x(double vx);
    double origin(double x, double vx);
    double z(double x, double T);

    inline Limp operator+(const Limp& l) const {return Limp(x0+l.x0, v0+l.v0, C);}
    inline Limp operator-() const {return Limp(-x0, -v0, C);}
    inline Limp operator-(const Limp& l) const {return Limp(x0-l.x0, v0-l.v0, C);}
    inline Limp& operator*=(const double scalar){x0*=scalar; v0*=scalar; return *this;}
    inline Limp& operator/=(const double scalar){x0/=scalar; v0/=scalar; return *this;}
    inline Limp& operator+=(const Limp& l){x0+=l.x0; v0+=l.v0; return *this;}
    inline Limp& operator-=(const Limp& l){x0-=l.x0; v0-=l.v0; return *this;}

};

}

#endif /* LIMP_H_ */