KDL
1.4.0
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#include <src/rotationalinertia.hpp>
Public Member Functions | |
RotationalInertia (double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0) | |
KDL::Vector | operator* (const KDL::Vector &omega) const |
This function calculates the angular momentum resulting from a rotational velocity omega. More... | |
~RotationalInertia () | |
Static Public Member Functions | |
static RotationalInertia | Zero () |
Public Attributes | |
double | data [9] |
Friends | |
class | RigidBodyInertia |
RotationalInertia | operator* (double a, const RotationalInertia &I) |
RotationalInertia | operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib) |
RigidBodyInertia | operator* (double a, const RigidBodyInertia &I) |
Scalar product. More... | |
RigidBodyInertia | operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib) |
addition More... | |
Wrench | operator* (const RigidBodyInertia &I, const Twist &t) |
calculate spatial momentum More... | |
RigidBodyInertia | operator* (const Frame &T, const RigidBodyInertia &I) |
coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b More... | |
RigidBodyInertia | operator* (const Rotation &R, const RigidBodyInertia &I) |
base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b More... | |
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explicit |
Referenced by Zero().
KDL::RotationalInertia::~RotationalInertia | ( | ) |
Referenced by Zero().
Vector KDL::RotationalInertia::operator* | ( | const KDL::Vector & | omega | ) | const |
This function calculates the angular momentum resulting from a rotational velocity omega.
References KDL::Vector::data.
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inlinestatic |
References operator*, operator+, RotationalInertia(), and ~RotationalInertia().
Referenced by KDL::ArticulatedBodyInertia::ArticulatedBodyInertia(), and KDL::RigidBodyInertia::Zero().
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friend |
Referenced by Zero().
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friend |
Scalar product.
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friend |
calculate spatial momentum
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friend |
coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b
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friend |
base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b
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friend |
Referenced by Zero().
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friend |
addition
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friend |
double KDL::RotationalInertia::data[9] |