KDL  1.4.0
Classes | Namespaces | Functions
articulatedbodyinertia.hpp File Reference
#include "frames.hpp"
#include "rotationalinertia.hpp"
#include "rigidbodyinertia.hpp"
#include <Eigen/Core>
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Classes

class  KDL::ArticulatedBodyInertia
 6D Inertia of a articulated body More...
 

Namespaces

 KDL
 

Functions

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 ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
 
ArticulatedBodyInertia KDL::operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
 
ArticulatedBodyInertia KDL::operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &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...