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src
rotationalinertia.hpp
Go to the documentation of this file.
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// Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_ROTATIONALINERTIA_HPP
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#define KDL_ROTATIONALINERTIA_HPP
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#include "
frames.hpp
"
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//------- class for only the Rotational Inertia --------
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namespace
KDL
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{
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//Forward declaration
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class
RigidBodyInertia;
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class
RotationalInertia
{
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public
:
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explicit
RotationalInertia
(
double
Ixx=0,
double
Iyy=0,
double
Izz=0,
double
Ixy=0,
double
Ixz=0,
double
Iyz=0);
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static
inline
RotationalInertia
Zero
(){
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return
RotationalInertia
(0,0,0,0,0,0);
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};
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friend
RotationalInertia
operator*
(
double
a,
const
RotationalInertia
& I);
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friend
RotationalInertia
operator+
(
const
RotationalInertia
& Ia,
const
RotationalInertia
& Ib);
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KDL::Vector
operator*
(
const
KDL::Vector
& omega)
const
;
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~RotationalInertia
();
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friend
class
RigidBodyInertia
;
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friend
RigidBodyInertia
operator*
(
double
a,
const
RigidBodyInertia
& I);
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friend
RigidBodyInertia
operator+
(
const
RigidBodyInertia
& Ia,
const
RigidBodyInertia
& Ib);
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friend
Wrench
operator*
(
const
RigidBodyInertia
& I,
const
Twist
& t);
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friend
RigidBodyInertia
operator*
(
const
Frame
& T,
const
RigidBodyInertia
& I);
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friend
RigidBodyInertia
operator*
(
const
Rotation
& R,
const
RigidBodyInertia
& I);
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double
data
[9];
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};
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RotationalInertia
operator*
(
double
a,
const
RotationalInertia
& I);
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RotationalInertia
operator+
(
const
RotationalInertia
& Ia,
const
RotationalInertia
& Ib);
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}
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#endif
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KDL::Rotation
represents rotations in 3 dimensional space.
Definition:
frames.hpp:301
KDL::RigidBodyInertia
6D Inertia of a rigid body
Definition:
rigidbodyinertia.hpp:37
KDL::RotationalInertia::operator*
friend RotationalInertia operator*(double a, const RotationalInertia &I)
Definition:
rotationalinertia.cpp:50
KDL::Twist
represents both translational and rotational velocities.
Definition:
frames.hpp:720
KDL::RotationalInertia::~RotationalInertia
~RotationalInertia()
Definition:
rotationalinertia.cpp:39
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition:
frames.hpp:160
KDL::RotationalInertia
Definition:
rotationalinertia.hpp:34
KDL::RotationalInertia::Zero
static RotationalInertia Zero()
Definition:
rotationalinertia.hpp:39
KDL::RotationalInertia::data
double data[9]
Definition:
rotationalinertia.hpp:65
KDL::RotationalInertia::operator+
friend RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
Definition:
rotationalinertia.cpp:56
KDL::Frame
represents a frame transformation in 3D space (rotation + translation)
Definition:
frames.hpp:570
KDL::Wrench
represents both translational and rotational acceleration.
Definition:
frames.hpp:878
KDL::RotationalInertia::RotationalInertia
RotationalInertia(double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
Definition:
rotationalinertia.cpp:28
frames.hpp
orocos_kdl
Author(s):
autogenerated on Fri Mar 12 2021 03:05:44