KDL::RotationalInertia Class Reference

#include <rotationalinertia.hpp>

List of all members.

## 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 [9]

## Friends

RotationalInertia operator* (double a, const RotationalInertia &I)
RigidBodyInertia operator* (double a, const RigidBodyInertia &I)
Scalar product.
Wrench operator* (const RigidBodyInertia &I, const Twist &t)
calculate spatial momentum
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
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
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.

## Constructor & Destructor Documentation

 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.

 KDL::RotationalInertia::~RotationalInertia ( )

Definition at line 39 of file rotationalinertia.cpp.

## Member Function Documentation

 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.

 static RotationalInertia KDL::RotationalInertia::Zero ( ) [inline, static]

Definition at line 39 of file rotationalinertia.hpp.

## Friends And Related Function Documentation

 RotationalInertia operator* ( double a, const RotationalInertia & I ) [friend]

Definition at line 50 of file rotationalinertia.cpp.

 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.

 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.

 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.

 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.

 RotationalInertia operator+ ( const RotationalInertia & Ia, const RotationalInertia & Ib ) [friend]

Definition at line 56 of file rotationalinertia.cpp.

 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.

 friend class RigidBodyInertia [friend]

Definition at line 53 of file rotationalinertia.hpp.

## Member Data Documentation

 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 Wed Aug 26 2015 15:14:15