rotationalinertia.hpp
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1 // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22 #ifndef KDL_ROTATIONALINERTIA_HPP
23 #define KDL_ROTATIONALINERTIA_HPP
24
25 #include "frames.hpp"
26
27 //------- class for only the Rotational Inertia --------
28
29 namespace KDL
30 {
31  //Forward declaration
32  class RigidBodyInertia;
33
35  public:
36
37  explicit RotationalInertia(double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
38
39  static inline RotationalInertia Zero(){
40  return RotationalInertia(0,0,0,0,0,0);
41  };
42
43  friend RotationalInertia operator*(double a, const RotationalInertia& I);
45
49  KDL::Vector operator*(const KDL::Vector& omega) const;
50
52
53  friend class RigidBodyInertia;
55  friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
57  friend RigidBodyInertia operator+(const RigidBodyInertia& Ia,const RigidBodyInertia& Ib);
59  friend Wrench operator*(const RigidBodyInertia& I,const Twist& t);
61  friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
63  friend RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
64
65  double data[9];
66  };
67
68  RotationalInertia operator*(double a, const RotationalInertia& I);
70
71 }
72
73 #endif
74
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
6D Inertia of a rigid body
friend RotationalInertia operator*(double a, const RotationalInertia &I)
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
static RotationalInertia Zero()
friend RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
represents both translational and rotational acceleration.
Definition: frames.hpp:878
RotationalInertia(double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)

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autogenerated on Fri Mar 12 2021 03:05:44