6D Inertia of a articulated body More...

#include <articulatedbodyinertia.hpp>

Public Member Functions
	ArticulatedBodyInertia ()
	ArticulatedBodyInertia (const RigidBodyInertia &rbi)
	ArticulatedBodyInertia (double m, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero())
	ArticulatedBodyInertia (const Eigen::Matrix3d &M, const Eigen::Matrix3d &H, const Eigen::Matrix3d &I)
ArticulatedBodyInertia	RefPoint (const Vector &p)
	~ArticulatedBodyInertia ()
Static Public Member Functions
static ArticulatedBodyInertia	Zero ()
Public Attributes
Eigen::Matrix3d	H
Eigen::Matrix3d	I
Eigen::Matrix3d	M
Friends
ArticulatedBodyInertia	operator* (double a, const ArticulatedBodyInertia &I)
Wrench	operator* (const ArticulatedBodyInertia &I, const Twist &t)
ArticulatedBodyInertia	operator* (const Frame &T, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator* (const Rotation &R, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)

Detailed Description

6D Inertia of a articulated body

The inertia is defined in a certain reference point and a certain reference base. The reference point does not have to coincide with the origin of the reference frame.

Definition at line 40 of file articulatedbodyinertia.hpp.

Constructor & Destructor Documentation

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( ) [inline]

This constructor creates a zero articulated body inertia matrix,

Definition at line 46 of file articulatedbodyinertia.hpp.

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( const RigidBodyInertia & rbi )

This constructor creates a cartesian space articulated body inertia matrix, the arguments is a rigid body inertia.

Definition at line 30 of file articulatedbodyinertia.cpp.

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia	(	double	m,
		const Vector &	oc = `Vector::Zero()`,
		const RotationalInertia &	Ic = `RotationalInertia::Zero()`
	)		`[explicit]`

This constructor creates a cartesian space inertia matrix, the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.

Definition at line 40 of file articulatedbodyinertia.cpp.

KDL::ArticulatedBodyInertia::~ArticulatedBodyInertia ( ) [inline]

Definition at line 70 of file articulatedbodyinertia.hpp.

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia	(	const Eigen::Matrix3d &	M,
		const Eigen::Matrix3d &	H,
		const Eigen::Matrix3d &	I
	)

Member Function Documentation

ArticulatedBodyInertia KDL::ArticulatedBodyInertia::RefPoint ( const Vector & p )

Reference point change with v the vector from the old to the new point expressed in the current reference frame

Definition at line 99 of file articulatedbodyinertia.cpp.

static ArticulatedBodyInertia KDL::ArticulatedBodyInertia::Zero ( ) [inline, static]

Creates an inertia with zero mass, and zero RotationalInertia

Definition at line 65 of file articulatedbodyinertia.hpp.

Friends And Related Function Documentation

ArticulatedBodyInertia operator*	(	double	a,
		const ArticulatedBodyInertia &	I
	)		`[friend]`

Scalar product: I_new = double * I_old

Definition at line 53 of file articulatedbodyinertia.cpp.

Wrench operator*	(	const ArticulatedBodyInertia &	I,
		const Twist &	t
	)		`[friend]`

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 72 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia operator*	(	const Frame &	T,
		const ArticulatedBodyInertia &	I
	)		`[friend]`

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

Definition at line 79 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia operator*	(	const Rotation &	R,
		const ArticulatedBodyInertia &	I
	)		`[friend]`

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a

Definition at line 94 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia operator+	(	const ArticulatedBodyInertia &	Ia,
		const ArticulatedBodyInertia &	Ib
	)		`[friend]`

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 57 of file articulatedbodyinertia.cpp.