22 #ifndef KDL_RIGIDBODYINERTIA_HPP 23 #define KDL_RIGIDBODYINERTIA_HPP represents rotations in 3 dimensional space.
Definition: frames.hpp:301
static Vector Zero()
Definition: frames.hpp:139
~RigidBodyInertia()
Definition: rigidbodyinertia.hpp:54
Vector h
Definition: rigidbodyinertia.hpp:93
double m
Definition: rigidbodyinertia.hpp:92
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
RigidBodyInertia RefPoint(const Vector &p)
Reference point change with v the vector from the old to the new point expressed in the current refer...
Definition: rigidbodyinertia.cpp:85
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
static const bool mhi
Definition: rigidbodyinertia.cpp:30
RigidBodyInertia(double m=0, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero())
This constructor creates a cartesian space inertia matrix, the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.
Definition: rigidbodyinertia.cpp:37
Definition: rotationalinertia.hpp:34
static RotationalInertia Zero()
Definition: rotationalinertia.hpp:39
static RigidBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: rigidbodyinertia.hpp:49
double getMass() const
Get the mass of the rigid body.
Definition: rigidbodyinertia.hpp:71
RotationalInertia getRotationalInertia() const
Get the rotational inertia expressed in the reference frame (not the cog)
Definition: rigidbodyinertia.hpp:86
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
represents both translational and rotational acceleration.
Definition: frames.hpp:878
friend RigidBodyInertia operator+(const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition: rigidbodyinertia.cpp:48
Vector getCOG() const
Get the center of gravity of the rigid body.
Definition: rigidbodyinertia.hpp:78
friend RigidBodyInertia operator*(double a, const RigidBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: rigidbodyinertia.cpp:44
RotationalInertia I
Definition: rigidbodyinertia.hpp:94