articulatedbodyinertia.hpp
Go to the documentation of this file.
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_ARTICULATEDBODYINERTIA_HPP
23 #define KDL_ARTICULATEDBODYINERTIA_HPP
24 
25 #include "frames.hpp"
26 
27 #include "rotationalinertia.hpp"
28 #include "rigidbodyinertia.hpp"
29 
30 #include <Eigen/Core>
31 
32 namespace KDL {
33 
41  public:
42 
48  }
49 
55 
60  explicit ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
61 
65  static inline ArticulatedBodyInertia Zero(){
66  return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
67  };
68 
69 
71 
77  friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
80 
86 
87  ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);
88 
89  Eigen::Matrix3d M;
90  Eigen::Matrix3d H;
91  Eigen::Matrix3d I;
92  };
93 
107 
112  Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
113 
123 
124 }
125 #endif
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
static ArticulatedBodyInertia Zero()
6D Inertia of a rigid body
represents both translational and rotational velocities.
Definition: frames.hpp:720
6D Inertia of a articulated body
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia RefPoint(const Vector &p)
friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
static RotationalInertia Zero()
friend ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
represents both translational and rotational acceleration.
Definition: frames.hpp:878
static Vector Zero()
Definition: frames.hpp:139


orocos_kdl
Author(s):
autogenerated on Sun Nov 22 2020 03:16:43