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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 44 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 52 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 56 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 74 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 48 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.


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


orocos_kdl
Author(s):
autogenerated on Sun Nov 22 2020 03:16:44