#include <rotationalinertia.hpp>
Public Member Functions | |
| KDL::Vector | operator* (const KDL::Vector &omega) const |
| RotationalInertia (double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0) | |
| ~RotationalInertia () | |
Static Public Member Functions | |
| static RotationalInertia | Zero () |
Public Attributes | |
| double | data [9] |
Friends | |
| RigidBodyInertia | operator* (const Rotation &R, const RigidBodyInertia &I) |
| base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b | |
| RigidBodyInertia | operator* (const Frame &T, const RigidBodyInertia &I) |
| coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b | |
| Wrench | operator* (const RigidBodyInertia &I, const Twist &t) |
| calculate spatial momentum | |
| RigidBodyInertia | operator* (double a, const RigidBodyInertia &I) |
| Scalar product. | |
| RotationalInertia | operator* (double a, const RotationalInertia &I) |
| RigidBodyInertia | operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib) |
| addition | |
| RotationalInertia | operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib) |
| class | RigidBodyInertia |
Definition at line 34 of file rotationalinertia.hpp.
| KDL::RotationalInertia::RotationalInertia | ( | double | Ixx = 0, |
|
| double | Iyy = 0, |
|||
| double | Izz = 0, |
|||
| double | Ixy = 0, |
|||
| double | Ixz = 0, |
|||
| double | Iyz = 0 | |||
| ) | [explicit] |
Definition at line 28 of file rotationalinertia.cpp.
| KDL::RotationalInertia::~RotationalInertia | ( | ) |
Definition at line 39 of file rotationalinertia.cpp.
| Vector KDL::RotationalInertia::operator* | ( | const KDL::Vector & | omega | ) | const |
This function calculates the angular momentum resulting from a rotational velocity omega
Definition at line 43 of file rotationalinertia.cpp.
| static RotationalInertia KDL::RotationalInertia::Zero | ( | ) | [inline, static] |
Definition at line 39 of file rotationalinertia.hpp.
| RigidBodyInertia operator* | ( | const Rotation & | R, | |
| const RigidBodyInertia & | I | |||
| ) | [friend] |
base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b
Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a
Definition at line 74 of file rigidbodyinertia.cpp.
| RigidBodyInertia operator* | ( | const Frame & | T, | |
| const RigidBodyInertia & | I | |||
| ) | [friend] |
coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b
Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
Definition at line 56 of file rigidbodyinertia.cpp.
| Wrench operator* | ( | const RigidBodyInertia & | I, | |
| const Twist & | t | |||
| ) | [friend] |
calculate spatial momentum
calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point
Definition at line 52 of file rigidbodyinertia.cpp.
| RigidBodyInertia operator* | ( | double | a, | |
| const RigidBodyInertia & | I | |||
| ) | [friend] |
Scalar product.
Scalar product: I_new = double * I_old
Definition at line 44 of file rigidbodyinertia.cpp.
| RotationalInertia operator* | ( | double | a, | |
| const RotationalInertia & | I | |||
| ) | [friend] |
Definition at line 50 of file rotationalinertia.cpp.
| RigidBodyInertia operator+ | ( | const RigidBodyInertia & | Ia, | |
| const RigidBodyInertia & | Ib | |||
| ) | [friend] |
addition
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing
Definition at line 48 of file rigidbodyinertia.cpp.
| RotationalInertia operator+ | ( | const RotationalInertia & | Ia, | |
| const RotationalInertia & | Ib | |||
| ) | [friend] |
Definition at line 56 of file rotationalinertia.cpp.
friend class RigidBodyInertia [friend] |
Definition at line 53 of file rotationalinertia.hpp.
| double KDL::RotationalInertia::data[9] |
Definition at line 65 of file rotationalinertia.hpp.
