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KDL::ArticulatedBodyInertia Class Reference

6D Inertia of a articulated body More...

#include <articulatedbodyinertia.hpp>

Public Member Functions

 ArticulatedBodyInertia ()
 
 ArticulatedBodyInertia (const RigidBodyInertia &rbi)
 
 ArticulatedBodyInertia (double m, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero())
 
 ArticulatedBodyInertia (const Eigen::Matrix3d &M, const Eigen::Matrix3d &H, const Eigen::Matrix3d &I)
 
ArticulatedBodyInertia RefPoint (const Vector &p)
 
 ~ArticulatedBodyInertia ()
 

Static Public Member Functions

static ArticulatedBodyInertia Zero ()
 

Public Attributes

Eigen::Matrix3d H
 
Eigen::Matrix3d I
 
Eigen::Matrix3d M
 

Friends

ArticulatedBodyInertia operator* (double a, const ArticulatedBodyInertia &I)
 
Wrench operator* (const ArticulatedBodyInertia &I, const Twist &t)
 
ArticulatedBodyInertia operator* (const Frame &T, const ArticulatedBodyInertia &I)
 
ArticulatedBodyInertia operator* (const Rotation &R, const ArticulatedBodyInertia &I)
 
ArticulatedBodyInertia operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
ArticulatedBodyInertia operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
 
ArticulatedBodyInertia operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
ArticulatedBodyInertia operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
 

Detailed Description

6D Inertia of a articulated body

The inertia is defined in a certain reference point and a certain reference base. The reference point does not have to coincide with the origin of the reference frame.

Definition at line 40 of file articulatedbodyinertia.hpp.

Constructor & Destructor Documentation

◆ ArticulatedBodyInertia() [1/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( )
inline

This constructor creates a zero articulated body inertia matrix,

Definition at line 46 of file articulatedbodyinertia.hpp.

◆ ArticulatedBodyInertia() [2/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( const RigidBodyInertia rbi)

This constructor creates a cartesian space articulated body inertia matrix, the arguments is a rigid body inertia.

Definition at line 30 of file articulatedbodyinertia.cpp.

◆ ArticulatedBodyInertia() [3/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( double  m,
const Vector oc = Vector::Zero(),
const RotationalInertia Ic = RotationalInertia::Zero() 
)
explicit

This constructor creates a cartesian space inertia matrix, the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.

Definition at line 39 of file articulatedbodyinertia.cpp.

◆ ~ArticulatedBodyInertia()

KDL::ArticulatedBodyInertia::~ArticulatedBodyInertia ( )
inline

Definition at line 70 of file articulatedbodyinertia.hpp.

◆ ArticulatedBodyInertia() [4/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( const Eigen::Matrix3d &  M,
const Eigen::Matrix3d &  H,
const Eigen::Matrix3d &  I 
)

Member Function Documentation

◆ RefPoint()

ArticulatedBodyInertia KDL::ArticulatedBodyInertia::RefPoint ( const Vector p)

Reference point change with v the vector from the old to the new point expressed in the current reference frame

Definition at line 97 of file articulatedbodyinertia.cpp.

◆ Zero()

static ArticulatedBodyInertia KDL::ArticulatedBodyInertia::Zero ( )
inlinestatic

Creates an inertia with zero mass, and zero RotationalInertia

Definition at line 65 of file articulatedbodyinertia.hpp.

Friends And Related Function Documentation

◆ operator* [1/4]

ArticulatedBodyInertia operator* ( double  a,
const ArticulatedBodyInertia I 
)
friend

Scalar product: I_new = double * I_old

Definition at line 51 of file articulatedbodyinertia.cpp.

◆ operator* [2/4]

Wrench operator* ( const ArticulatedBodyInertia I,
const Twist t 
)
friend

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

Definition at line 70 of file articulatedbodyinertia.cpp.

◆ operator* [3/4]

ArticulatedBodyInertia operator* ( const Frame T,
const ArticulatedBodyInertia I 
)
friend

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

Definition at line 77 of file articulatedbodyinertia.cpp.

◆ operator* [4/4]

ArticulatedBodyInertia operator* ( const Rotation R,
const ArticulatedBodyInertia I 
)
friend

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a

Definition at line 92 of file articulatedbodyinertia.cpp.

◆ operator+ [1/2]

ArticulatedBodyInertia operator+ ( const ArticulatedBodyInertia Ia,
const ArticulatedBodyInertia Ib 
)
friend

addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing

Definition at line 55 of file articulatedbodyinertia.cpp.

◆ operator+ [2/2]

ArticulatedBodyInertia operator+ ( const ArticulatedBodyInertia Ia,
const RigidBodyInertia Ib 
)
friend

◆ operator- [1/2]

ArticulatedBodyInertia operator- ( const ArticulatedBodyInertia Ia,
const ArticulatedBodyInertia Ib 
)
friend

Definition at line 62 of file articulatedbodyinertia.cpp.

◆ operator- [2/2]

ArticulatedBodyInertia operator- ( const ArticulatedBodyInertia Ia,
const RigidBodyInertia Ib 
)
friend

Member Data Documentation

◆ H

Eigen::Matrix3d KDL::ArticulatedBodyInertia::H

Definition at line 90 of file articulatedbodyinertia.hpp.

◆ I

Eigen::Matrix3d KDL::ArticulatedBodyInertia::I

Definition at line 91 of file articulatedbodyinertia.hpp.

◆ M

Eigen::Matrix3d KDL::ArticulatedBodyInertia::M

Definition at line 89 of file articulatedbodyinertia.hpp.


The documentation for this class was generated from the following files:


orocos_kdl
Author(s):
autogenerated on Mon Oct 19 2020 03:19:17