22 #ifndef KDL_ARTICULATEDBODYINERTIA_HPP 23 #define KDL_ARTICULATEDBODYINERTIA_HPP represents rotations in 3 dimensional space.
Definition: frames.hpp:301
static ArticulatedBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: articulatedbodyinertia.hpp:65
static Vector Zero()
Definition: frames.hpp:139
ArticulatedBodyInertia()
This constructor creates a zero articulated body inertia matrix,.
Definition: articulatedbodyinertia.hpp:46
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
Eigen::Matrix3d H
Definition: articulatedbodyinertia.hpp:90
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
6D Inertia of a articulated body
Definition: articulatedbodyinertia.hpp:40
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition: articulatedbodyinertia.cpp:62
Eigen::Matrix3d M
Definition: articulatedbodyinertia.hpp:89
ArticulatedBodyInertia RefPoint(const Vector &p)
Reference point change with v the vector from the old to the new point expressed in the current refer...
Definition: articulatedbodyinertia.cpp:97
Definition: rotationalinertia.hpp:34
~ArticulatedBodyInertia()
Definition: articulatedbodyinertia.hpp:70
friend ArticulatedBodyInertia 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 refer...
Definition: articulatedbodyinertia.cpp:55
static RotationalInertia Zero()
Definition: rotationalinertia.hpp:39
friend ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:51
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
represents both translational and rotational acceleration.
Definition: frames.hpp:878
Eigen::Matrix3d I
Definition: articulatedbodyinertia.hpp:91