KDL::RotationalInertia Class Reference

#include <rotationalinertia.hpp>

Public Member Functions
KDL::Vector	operator* (const KDL::Vector &omega) const
	RotationalInertia (double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
	~RotationalInertia ()

Static Public Member Functions
static RotationalInertia	Zero ()

Public Attributes
double	data [9]

Friends
RotationalInertia	operator* (double a, const RotationalInertia &I)
RigidBodyInertia	operator* (double a, const RigidBodyInertia &I)
	Scalar product. More...
Wrench	operator* (const RigidBodyInertia &I, const Twist &t)
	calculate spatial momentum More...
RigidBodyInertia	operator* (const Frame &T, const RigidBodyInertia &I)
	coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b More...
RigidBodyInertia	operator* (const Rotation &R, const RigidBodyInertia &I)
	base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b More...
RotationalInertia	operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
	addition More...
class	RigidBodyInertia

Detailed Description

Definition at line 34 of file rotationalinertia.hpp.

Constructor & Destructor Documentation

RotationalInertia()

KDL::RotationalInertia::RotationalInertia ( double  Ixx = 0, double  Iyy = 0, double  Izz = 0, double  Ixy = 0, double  Ixz = 0, double  Iyz = 0  )

explicit

Definition at line 28 of file rotationalinertia.cpp.

~RotationalInertia()

KDL::RotationalInertia::~RotationalInertia

(

)

Definition at line 39 of file rotationalinertia.cpp.

Member Function Documentation

operator*()

Vector KDL::RotationalInertia::operator*

(

const KDL::Vector &

omega

)

const

This function calculates the angular momentum resulting from a rotational velocity omega

Definition at line 43 of file rotationalinertia.cpp.

Zero()

static RotationalInertia KDL::RotationalInertia::Zero ( )

inlinestatic

Definition at line 39 of file rotationalinertia.hpp.

Friends And Related Function Documentation

operator* [1/5]

RotationalInertia operator* ( double  a, const RotationalInertia &  I  )

friend

Definition at line 50 of file rotationalinertia.cpp.

operator* [2/5]

RigidBodyInertia operator* ( double  a, const RigidBodyInertia &  I  )

friend

Scalar product.

Scalar product: I_new = double * I_old

Definition at line 42 of file rigidbodyinertia.cpp.

operator* [3/5]

Wrench operator* ( const RigidBodyInertia &  I, const Twist &  t  )

friend

calculate spatial momentum

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 50 of file rigidbodyinertia.cpp.

operator* [4/5]

RigidBodyInertia operator* ( const Frame &  T, const RigidBodyInertia &  I  )

friend

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

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

Definition at line 54 of file rigidbodyinertia.cpp.

operator* [5/5]

RigidBodyInertia operator* ( const Rotation &  R, const RigidBodyInertia &  I  )

friend

base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b

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

Definition at line 72 of file rigidbodyinertia.cpp.

operator+ [1/2]

RotationalInertia operator+ ( const RotationalInertia &  Ia, const RotationalInertia &  Ib  )

friend

Definition at line 56 of file rotationalinertia.cpp.

operator+ [2/2]

RigidBodyInertia operator+ ( const RigidBodyInertia &  Ia, const RigidBodyInertia &  Ib  )

friend

addition

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 46 of file rigidbodyinertia.cpp.

RigidBodyInertia

friend class RigidBodyInertia

friend

Definition at line 53 of file rotationalinertia.hpp.

Member Data Documentation

data

double KDL::RotationalInertia::data[9]

Definition at line 65 of file rotationalinertia.hpp.

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

• rotationalinertia.hpp
• rotationalinertia.cpp