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) |
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.
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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.
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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 39 of file articulatedbodyinertia.cpp.
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inline |
Definition at line 70 of file articulatedbodyinertia.hpp.
KDL::ArticulatedBodyInertia::ArticulatedBodyInertia | ( | const Eigen::Matrix3d & | M, |
const Eigen::Matrix3d & | H, | ||
const Eigen::Matrix3d & | I | ||
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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 97 of file articulatedbodyinertia.cpp.
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inlinestatic |
Creates an inertia with zero mass, and zero RotationalInertia
Definition at line 65 of file articulatedbodyinertia.hpp.
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friend |
Scalar product: I_new = double * I_old
Definition at line 51 of file articulatedbodyinertia.cpp.
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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 70 of file articulatedbodyinertia.cpp.
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friend |
Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
Definition at line 77 of file articulatedbodyinertia.cpp.
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friend |
Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a
Definition at line 92 of file articulatedbodyinertia.cpp.
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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 55 of file articulatedbodyinertia.cpp.
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friend |
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friend |
Definition at line 62 of file articulatedbodyinertia.cpp.
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friend |
Eigen::Matrix3d KDL::ArticulatedBodyInertia::H |
Definition at line 90 of file articulatedbodyinertia.hpp.
Eigen::Matrix3d KDL::ArticulatedBodyInertia::I |
Definition at line 91 of file articulatedbodyinertia.hpp.
Eigen::Matrix3d KDL::ArticulatedBodyInertia::M |
Definition at line 89 of file articulatedbodyinertia.hpp.