KDL 1.5.1
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rigidbodyinertia.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_RIGIDBODYINERTIA_HPP
23#define KDL_RIGIDBODYINERTIA_HPP
24
25#include "frames.hpp"
26
27#include "rotationalinertia.hpp"
28
29namespace KDL {
30
38 public:
39
44 explicit RigidBodyInertia(double m=0, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
45
49 static inline RigidBodyInertia Zero(){
51 };
52
53
55
56 friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
58 friend Wrench operator*(const RigidBodyInertia& I,const Twist& t);
59 friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
61
67
71 double getMass() const{
72 return m;
73 };
74
78 Vector getCOG() const{
79 if(m==0) return Vector::Zero();
80 else return h/m;
81 };
82
87 return I;
88 };
89
90 private:
91 RigidBodyInertia(double m,const Vector& h,const RotationalInertia& I,bool mhi);
92 double m;
95
97
98 };
99
110
115 Wrench operator*(const RigidBodyInertia& I,const Twist& t);
116
126
127
128
129}//namespace
130
131
132#endif
6D Inertia of a articulated body
Definition: articulatedbodyinertia.hpp:40
Definition: frames.hpp:570
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
friend RigidBodyInertia operator*(double a, const RigidBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: rigidbodyinertia.cpp:42
RotationalInertia getRotationalInertia() const
Get the rotational inertia expressed in the reference frame (not the cog)
Definition: rigidbodyinertia.hpp:86
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:83
static RigidBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: rigidbodyinertia.hpp:49
~RigidBodyInertia()
Definition: rigidbodyinertia.hpp:54
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:46
Vector getCOG() const
Get the center of gravity of the rigid body.
Definition: rigidbodyinertia.hpp:78
Vector h
Definition: rigidbodyinertia.hpp:93
double m
Definition: rigidbodyinertia.hpp:92
RotationalInertia I
Definition: rigidbodyinertia.hpp:94
double getMass() const
Get the mass of the rigid body.
Definition: rigidbodyinertia.hpp:71
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
Definition: rotationalinertia.hpp:34
static RotationalInertia Zero()
Definition: rotationalinertia.hpp:39
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
static Vector Zero()
Definition: frames.inl:138
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
static const bool mhi
Definition: rigidbodyinertia.cpp:28
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:49