articulatedbodyinertia.hpp
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00001 // Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_ARTICULATEDBODYINERTIA_HPP
00023 #define KDL_ARTICULATEDBODYINERTIA_HPP
00024 
00025 #include "frames.hpp"
00026 
00027 #include "rotationalinertia.hpp"
00028 #include "rigidbodyinertia.hpp"
00029 
00030 #include <Eigen/Core>
00031 
00032 namespace KDL {
00033     
00040     class ArticulatedBodyInertia{
00041     public:
00042 
00046         ArticulatedBodyInertia(){
00047             *this=ArticulatedBodyInertia::Zero();
00048         }
00049 
00054         ArticulatedBodyInertia(const RigidBodyInertia& rbi);
00055 
00060         explicit ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
00061         
00065         static inline ArticulatedBodyInertia Zero(){
00066             return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
00067         };
00068         
00069         
00070         ~ArticulatedBodyInertia(){};
00071         
00072         friend ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I);
00073         friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
00074         friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
00075         friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
00076         friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
00077         friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
00078         friend ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
00079         friend ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);
00080 
00085         ArticulatedBodyInertia RefPoint(const Vector& p);
00086 
00087         ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);
00088 
00089         Eigen::Matrix3d M;
00090         Eigen::Matrix3d H;
00091         Eigen::Matrix3d I;
00092     };
00093 
00097     ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I);
00103     ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
00104     ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
00105     ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
00106     ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
00107 
00112     Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
00113 
00117     ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
00122     ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);
00123 
00124 }
00125 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14