|
ArticulatedBodyInertia | KDL::operator* (double a, const ArticulatedBodyInertia &I) |
| Scalar product: I_new = double * I_old. More...
|
|
ArticulatedBodyInertia | KDL::operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
| 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 More...
|
|
ArticulatedBodyInertia | KDL::operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
|
ArticulatedBodyInertia | KDL::operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
|
ArticulatedBodyInertia | KDL::operator- (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
|
Wrench | KDL::operator* (const ArticulatedBodyInertia &I, const Twist &t) |
| calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point More...
|
|
ArticulatedBodyInertia | KDL::operator* (const Frame &T, const ArticulatedBodyInertia &I) |
| Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b. More...
|
|
ArticulatedBodyInertia | KDL::operator* (const Rotation &R, const ArticulatedBodyInertia &I) |
| Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a. More...
|
|