#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. More...

Wrench	operator* (const RigidBodyInertia &I, const Twist &t)
	calculate spatial momentum More...

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 More...

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 More...

RotationalInertia	operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)

RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
	addition More...

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.

KDL::RotationalInertia::~RotationalInertia ( )

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 ( )

inlinestatic

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

double KDL::RotationalInertia::data[9]

Definition at line 65 of file rotationalinertia.hpp.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation