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 ()

double data 

## 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)

class RigidBodyInertia

## Detailed Description

Definition at line 34 of file rotationalinertia.hpp.

## ◆ 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.

## ◆ 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.

## ◆ 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 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.

## ◆ data

 double KDL::RotationalInertia::data

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 Tue Sep 1 2020 03:18:51