KDL  1.4.0
articulatedbodyinertia.hpp
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1 // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_ARTICULATEDBODYINERTIA_HPP
23 #define KDL_ARTICULATEDBODYINERTIA_HPP
24 
25 #include "frames.hpp"
26 
27 #include "rotationalinertia.hpp"
28 #include "rigidbodyinertia.hpp"
29 
30 #include <Eigen/Core>
31 
32 namespace KDL {
33 
41  public:
42 
48  }
49 
55 
60  explicit ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
61 
65  static inline ArticulatedBodyInertia Zero(){
66  return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
67  };
68 
69 
71 
77  friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
80 
86 
87  ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);
88 
89  Eigen::Matrix3d M;
90  Eigen::Matrix3d H;
91  Eigen::Matrix3d I;
92  };
93 
107 
112  Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
113 
123 
124 }
125 #endif
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