rotationalinertia.cpp
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00001 // Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #include "rotationalinertia.hpp"
00023 #include <Eigen/Core>
00024 using namespace Eigen;
00025 
00026 namespace KDL
00027 {
00028         RotationalInertia::RotationalInertia(double Ixx,double Iyy,double Izz,double Ixy,double Ixz,double Iyz)
00029         {
00030         data[0]=Ixx;
00031         data[1]=data[3]=Ixy;
00032         data[2]=data[6]=Ixz;
00033         data[4]=Iyy;
00034         data[5]=data[7]=Iyz;
00035         data[8]=Izz;
00036         
00037         }
00038 
00039         RotationalInertia::~RotationalInertia()
00040         {
00041         }
00042 
00043         Vector RotationalInertia::operator*(const Vector& omega) const {
00044                 // Complexity : 9M+6A
00045         Vector result;
00046         Map<Vector3d>(result.data)=Map<const Matrix3d>(this->data)*Map<const Vector3d>(omega.data);
00047         return result;
00048         }
00049 
00050     RotationalInertia operator*(double a, const RotationalInertia& I){
00051         RotationalInertia result;
00052         Map<Matrix3d>(result.data)=a*Map<const Matrix3d>(I.data);
00053         return result;
00054     }
00055     
00056     RotationalInertia operator+(const RotationalInertia& Ia, const RotationalInertia& Ib){
00057         RotationalInertia result;
00058         Map<Matrix3d>(result.data)=Map<const Matrix3d>(Ia.data)+Map<const Matrix3d>(Ib.data);
00059         return result;
00060     }
00061 }
00062 


orocos_kdl
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autogenerated on Sat Oct 7 2017 03:04:28