Public Member Functions | Static Public Member Functions | Public Attributes | Friends
KDL::RotationalInertia Class Reference

#include <rotationalinertia.hpp>

List of all members.

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

RotationalInertia operator* (double a, const RotationalInertia &I)
RigidBodyInertia operator* (double a, const RigidBodyInertia &I)
 Scalar product.
Wrench operator* (const RigidBodyInertia &I, const Twist &t)
 calculate spatial momentum
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
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
RotationalInertia operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
RigidBodyInertia operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
 addition
class RigidBodyInertia

Detailed Description

Definition at line 34 of file rotationalinertia.hpp.


Constructor & Destructor Documentation

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.

Definition at line 39 of file rotationalinertia.cpp.


Member Function Documentation

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.


Friends And Related Function Documentation

RotationalInertia operator* ( double  a,
const RotationalInertia I 
) [friend]

Definition at line 50 of file rotationalinertia.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.

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* ( 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.

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.

RotationalInertia operator+ ( const RotationalInertia Ia,
const RotationalInertia Ib 
) [friend]

Definition at line 56 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.

friend class RigidBodyInertia [friend]

Definition at line 53 of file rotationalinertia.hpp.


Member Data Documentation

Definition at line 65 of file rotationalinertia.hpp.


The documentation for this class was generated from the following files:


orocos_kdl
Author(s):
autogenerated on Mon Oct 6 2014 03:11:17