A Math::SpatialInertia is a RigidBodyInertia explicitly expressed in a RobotDynamics::ReferenceFrame. The frame a Math::SpatialInertia is expressed in can be changed by calling RobotDynamics::FrameObject::changeFrame. More...

#include <SpatialRigidBodyInertia.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialInertia:

[legend]

Public Member Functions
TransformableGeometricObject *	getTransformableGeometricObject ()
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

RobotDynamics::Math::SpatialForce	operator* (const RobotDynamics::Math::SpatialAcceleration &a)

void	operator+= (const SpatialInertia &spatialInertia)
	Overloaded += operator. Performs frame checks. More...

	SpatialInertia ()
	Empty constructor. Initializes FrameObject::referenceFrame to nullptr. More...

	SpatialInertia (ReferenceFramePtr referenceFrame)
	Constructor. More...

	SpatialInertia (ReferenceFramePtr referenceFrame, double mass, const Vector3d &com_mass, const Matrix3d &inertia)
	Constructor. More...

	SpatialInertia (ReferenceFramePtr referenceFrame, double m, const Vector3d &h, const double Ixx, const double Iyx, const double Iyy, const double Izx, const double Izy, const double Izz)
	Constructor. More...

	SpatialInertia (ReferenceFramePtr referenceFrame, const RigidBodyInertia &inertia)
	Constructor. More...

	SpatialInertia (const SpatialInertia &inertia)
	Copy constructor. More...

RigidBodyInertia	toRigidBodyInertia () const
	Get a copy of a Math::SpatialInertia as type Math::RigidBodyInertia. More...

Public Member Functions inherited from RobotDynamics::Math::RigidBodyInertia
void	createFromMatrix (const SpatialMatrix &Ic)
	Create a Math::RigidBodyInertia object from a 6x6 Math::SpatialMatrix. More...

Matrix63	multiplyMatrix63 (Matrix63 m) const
	A helper method that returns a 6x3 matrix that is a Math::RigidBodyInertia multiplied by a 6x3 matrix. More...

void	operator+= (const RigidBodyInertia &rbi)
	Overloaded plus-equals operator. Adds two inertia matrices. More...

RigidBodyInertia &	operator= (const RigidBodyInertia &other)

	RigidBodyInertia ()
	Constructor. More...

	RigidBodyInertia (double mass, const Vector3d &com_mass, const Matrix3d &inertia)
	Constructor. More...

	RigidBodyInertia (double m, const Vector3d &h, const double Ixx, const double Iyx, const double Iyy, const double Izx, const double Izy, const double Izz)
	Constructor. More...

	RigidBodyInertia (const RigidBodyInertia &inertia)
	Copy constructor. More...

void	set (const RigidBodyInertia &I)
	Setter. More...

void	set (double m, const Vector3d &h, const double Ixx, const double Iyx, const double Iyy, const double Izx, const double Izy, const double Izz)
	Setter. More...

void	setSpatialMatrix (SpatialMatrix &mat) const
	Store a Math::RigidBodyInertia in the Math::SpatialMatrix. More...

SpatialMatrix	subtractSpatialMatrix (const SpatialMatrix &m) const
	Given Math::RigidBodyInertia ad Math::SpatialMatrix , returns Math::SpatialMatrix such that . More...

SpatialVector	timesSpatialVector (const SpatialVector &v) const
	Multiply a Math::RigidBodyInertia by a Math::SpatialVector and return the result as a new Math::SpatialVector. More...

SpatialMatrix	toMatrix () const

void	transform (const SpatialTransform &X)
	Transform a Math::RigidBodyInertia matrix. More...

RigidBodyInertia	transform_copy (const SpatialTransform &X) const
	Copy, transform, and return a Math::RigidBodyInertia. More...

Public Member Functions inherited from RobotDynamics::FrameObject
virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two ReferenceFrameHolders hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

	FrameObject (ReferenceFramePtr referenceFrame)

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

virtual	~FrameObject ()
	Destructor. More...

Additional Inherited Members
Public Attributes inherited from RobotDynamics::Math::RigidBodyInertia
Vector3d	h

double	Ixx

double	Iyx

double	Iyy

double	Izx

double	Izy

double	Izz

double	m

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

A Math::SpatialInertia is a RigidBodyInertia explicitly expressed in a RobotDynamics::ReferenceFrame. The frame a Math::SpatialInertia is expressed in can be changed by calling RobotDynamics::FrameObject::changeFrame.

Definition at line 32 of file SpatialRigidBodyInertia.hpp.

Constructor & Destructor Documentation

RobotDynamics::Math::SpatialInertia::SpatialInertia ( )

inline

Empty constructor. Initializes FrameObject::referenceFrame to nullptr.

Definition at line 38 of file SpatialRigidBodyInertia.hpp.

RobotDynamics::Math::SpatialInertia::SpatialInertia ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor.

Parameters

referenceFrame

Definition at line 46 of file SpatialRigidBodyInertia.hpp.

RobotDynamics::Math::SpatialInertia::SpatialInertia	(	ReferenceFramePtr	referenceFrame,
		double	mass,
		const Vector3d &	com_mass,
		const Matrix3d &	inertia
	)

inline

Constructor.

Parameters

referenceFrame
mass
com_mass	Mass scaled center of mass vector
inertia	3x3 inertia tensor

Definition at line 57 of file SpatialRigidBodyInertia.hpp.

RobotDynamics::Math::SpatialInertia::SpatialInertia	(	ReferenceFramePtr	referenceFrame,
		double	m,
		const Vector3d &	h,
		const double	Ixx,
		const double	Iyx,
		const double	Iyy,
		const double	Izx,
		const double	Izy,
		const double	Izz
	)

inline

Constructor.

Parameters

referenceFrame
m
h	Mass scaled center of mass
Ixx
Iyx
Iyy
Izx
Izy
Izz

Definition at line 74 of file SpatialRigidBodyInertia.hpp.

RobotDynamics::Math::SpatialInertia::SpatialInertia	(	ReferenceFramePtr	referenceFrame,
		const RigidBodyInertia &	inertia
	)

inline

Constructor.

Parameters

referenceFrame
inertia

Definition at line 85 of file SpatialRigidBodyInertia.hpp.

RobotDynamics::Math::SpatialInertia::SpatialInertia ( const SpatialInertia & inertia )

inline

Copy constructor.

Parameters

inertia

Definition at line 93 of file SpatialRigidBodyInertia.hpp.

Member Function Documentation

TransformableGeometricObject* RobotDynamics::Math::SpatialInertia::getTransformableGeometricObject ( )

inlinevirtual

Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method.