KDL 1.5.1
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rotationalinertia.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_ROTATIONALINERTIA_HPP
23#define KDL_ROTATIONALINERTIA_HPP
24
25#include "frames.hpp"
26
27//------- class for only the Rotational Inertia --------
28
29namespace KDL
30{
31 //Forward declaration
32 class RigidBodyInertia;
33
35 public:
36
37 explicit RotationalInertia(double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
38
39 static inline RotationalInertia Zero(){
40 return RotationalInertia(0,0,0,0,0,0);
41 };
42
43 friend RotationalInertia operator*(double a, const RotationalInertia& I);
45
49 KDL::Vector operator*(const KDL::Vector& omega) const;
50
52
53 friend class RigidBodyInertia;
55 friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
59 friend Wrench operator*(const RigidBodyInertia& I,const Twist& t);
61 friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
63 friend RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
64
65 double data[9];
66 };
67
70
71}
72
73#endif
74
Definition: frames.hpp:570
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
Definition: rotationalinertia.hpp:34
static RotationalInertia Zero()
Definition: rotationalinertia.hpp:39
~RotationalInertia()
Definition: rotationalinertia.cpp:39
friend RotationalInertia operator*(double a, const RotationalInertia &I)
Definition: rotationalinertia.cpp:50
double data[9]
Definition: rotationalinertia.hpp:65
friend RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
Definition: rotationalinertia.cpp:56
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
represents both translational and rotational acceleration.
Definition: frames.hpp:879
Definition: articulatedbodyinertia.cpp:26
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:53
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:49