6D Inertia of a rigid body
RigidBodyInertia RefPoint(const Vector &p)
6D Inertia of a articulated body
RigidBodyInertia(double m=0, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero())
static RigidBodyInertia Zero()
RotationalInertia getRotationalInertia() const
friend RigidBodyInertia operator+(const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
friend RigidBodyInertia operator*(double a, const RigidBodyInertia &I)