#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 | |
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 |
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.
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.
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.
double KDL::RotationalInertia::data[9] |
Definition at line 65 of file rotationalinertia.hpp.