rdl_dynamics: RigidBodyInertia.hpp File Reference

See V. Duindum p39-40 & Featherstone p32-33. More...

#include "rdl_dynamics/rdl_eigenmath.h"
#include "rdl_dynamics/SpatialAlgebraOperators.h"

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Classes
class	RobotDynamics::Math::RigidBodyInertia
	This class stores a bodies mass, center of mass, and inertia information. The inertia elements are stored individually since the inertia matrix is a 3x3 symmetric matrix. The bodies inertia matrix, expressed about its center of mass, can be reconstructed as $I_c = \begin{bmatrix} I_xx & I_yx & I_zx \\ I_yx & I_yy & I_zy \\ I_zx & I_zy & I_zz \end{bmatrix}$ The full RigidBodyInertia matrix has the following structure, $\begin{bmatrix} I_c + (h\times)h & h\times \\ -h\times & \mathbf{1}_{3\times3}m \end{bmatrix}$ where $\mathbf{1}_{3\times 3}$ is a 3x3 identity matrix. More...

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.

	RobotDynamics::Math
	Math types such as vectors and matrices and utility functions.

Typedefs
typedef std::vector< RigidBodyInertia, Eigen::aligned_allocator< RigidBodyInertia > >	RobotDynamics::Math::RigidBodyInertiaV

Functions
static RigidBodyInertia	RobotDynamics::Math::createFromMassComInertiaC (double mass, const Vector3d &com, const Matrix3d &inertia_C)

SpatialVector	RobotDynamics::Math::operator* (const RigidBodyInertia &I, const SpatialVector &v)
	Operator for multiplying a Math::RigidBodyInertia by a Math::SpatialVector. More...

Matrix63	RobotDynamics::Math::operator* (const RigidBodyInertia &I, const Matrix63 &m)
	Operator for multiplying a Math::RigidBodyInertia by a Math::Matrix63. More...

RigidBodyInertia	RobotDynamics::Math::operator+ (RigidBodyInertia rbi_in, const RigidBodyInertia &rbi)
	Add two Math::RigidBodyInertia objects together. More...

Detailed Description

See V. Duindum p39-40 & Featherstone p32-33.