24 using namespace Eigen;
28 RotationalInertia::RotationalInertia(
double Ixx,
double Iyy,
double Izz,
double Ixy,
double Ixz,
double Iyz)
39 RotationalInertia::~RotationalInertia()
46 Map<Vector3d>(result.
data)=Map<const Matrix3d>(this->data)*Map<const Vector3d>(omega.
data);
52 Map<Matrix3d>(result.
data)=a*Map<const Matrix3d>(I.
data);
58 Map<Matrix3d>(result.
data)=Map<const Matrix3d>(Ia.
data)+Map<const Matrix3d>(Ib.
data);
RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
A concrete implementation of a 3 dimensional vector class.
RotationalInertia operator*(double a, const RotationalInertia &I)