6D Inertia of a rigid body More...
#include <rigidbodyinertia.hpp>
Public Member Functions | |
Vector | getCOG () const |
double | getMass () const |
RotationalInertia | getRotationalInertia () const |
RigidBodyInertia | RefPoint (const Vector &p) |
RigidBodyInertia (double m=0, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero()) | |
~RigidBodyInertia () | |
Static Public Member Functions | |
static RigidBodyInertia | Zero () |
Private Member Functions | |
RigidBodyInertia (double m, const Vector &h, const RotationalInertia &I, bool mhi) | |
Private Attributes | |
Vector | h |
RotationalInertia | I |
double | m |
Friends | |
class | ArticulatedBodyInertia |
RigidBodyInertia | operator* (double a, const RigidBodyInertia &I) |
Wrench | operator* (const RigidBodyInertia &I, const Twist &t) |
RigidBodyInertia | operator* (const Frame &T, const RigidBodyInertia &I) |
RigidBodyInertia | operator* (const Rotation &R, const RigidBodyInertia &I) |
RigidBodyInertia | operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib) |
6D Inertia of a rigid 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 37 of file rigidbodyinertia.hpp.
KDL::RigidBodyInertia::RigidBodyInertia | ( | double | m = 0 , |
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 37 of file rigidbodyinertia.cpp.
KDL::RigidBodyInertia::~RigidBodyInertia | ( | ) | [inline] |
Definition at line 54 of file rigidbodyinertia.hpp.
KDL::RigidBodyInertia::RigidBodyInertia | ( | double | m, |
const Vector & | h, | ||
const RotationalInertia & | I, | ||
bool | mhi | ||
) | [private] |
Definition at line 32 of file rigidbodyinertia.cpp.
Vector KDL::RigidBodyInertia::getCOG | ( | ) | const [inline] |
Get the center of gravity of the rigid body
Definition at line 78 of file rigidbodyinertia.hpp.
double KDL::RigidBodyInertia::getMass | ( | ) | const [inline] |
Get the mass of the rigid body
Definition at line 71 of file rigidbodyinertia.hpp.
RotationalInertia KDL::RigidBodyInertia::getRotationalInertia | ( | ) | const [inline] |
Get the rotational inertia expressed in the reference frame (not the cog)
Definition at line 86 of file rigidbodyinertia.hpp.
RigidBodyInertia KDL::RigidBodyInertia::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 85 of file rigidbodyinertia.cpp.
static RigidBodyInertia KDL::RigidBodyInertia::Zero | ( | ) | [inline, static] |
Creates an inertia with zero mass, and zero RotationalInertia
Definition at line 49 of file rigidbodyinertia.hpp.
friend class ArticulatedBodyInertia [friend] |
Definition at line 96 of file rigidbodyinertia.hpp.
RigidBodyInertia operator* | ( | double | a, |
const RigidBodyInertia & | I | ||
) | [friend] |
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: 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.
Definition at line 56 of file rigidbodyinertia.cpp.
RigidBodyInertia operator* | ( | const Rotation & | R, |
const RigidBodyInertia & | 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 74 of file rigidbodyinertia.cpp.
RigidBodyInertia operator+ | ( | const RigidBodyInertia & | Ia, |
const RigidBodyInertia & | 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 48 of file rigidbodyinertia.cpp.
Vector KDL::RigidBodyInertia::h [private] |
Definition at line 93 of file rigidbodyinertia.hpp.
RotationalInertia KDL::RigidBodyInertia::I [private] |
Definition at line 94 of file rigidbodyinertia.hpp.
double KDL::RigidBodyInertia::m [private] |
Definition at line 92 of file rigidbodyinertia.hpp.