6D Inertia of a rigid body More...

#include <src/rigidbodyinertia.hpp>

Collaboration diagram for KDL::RigidBodyInertia:

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Public Member Functions
	RigidBodyInertia (double m=0, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero())
	This constructor creates a cartesian space inertia matrix, the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.

	~RigidBodyInertia ()

RigidBodyInertia	RefPoint (const Vector &p)
	Reference point change with v the vector from the old to the new point expressed in the current reference frame.

double	getMass () const
	Get the mass of the rigid body.

Vector	getCOG () const
	Get the center of gravity of the rigid body.

RotationalInertia	getRotationalInertia () const
	Get the rotational inertia expressed in the reference frame (not the cog)

Static Public Member Functions
static RigidBodyInertia	Zero ()
	Creates an inertia with zero mass, and zero RotationalInertia.

Private Member Functions
	RigidBodyInertia (double m, const Vector &h, const RotationalInertia &I, bool mhi)

Private Attributes
double	m

Vector	h

RotationalInertia	I

Friends
class	ArticulatedBodyInertia

RigidBodyInertia	operator* (double a, const RigidBodyInertia &I)
	Scalar product: I_new = double * I_old.

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 reference frame/point, otherwise the result is worth nothing

Wrench	operator* (const RigidBodyInertia &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

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.

RigidBodyInertia	operator* (const Rotation &R, const RigidBodyInertia &I)
	Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.

Detailed Description

6D Inertia of a rigid body

The inertia is defined in a certain reference point and a certain reference base. The reference point does not have to coincide with the origin of the reference frame.

Constructor & Destructor Documentation

◆ RigidBodyInertia() [1/2]

KDL::RigidBodyInertia::RigidBodyInertia	(	double	m = 0,
		const Vector &	oc = Vector::Zero(),
		const RotationalInertia &	Ic = RotationalInertia::Zero() )

explicit

This constructor creates a cartesian space inertia matrix, the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.

References KDL::RotationalInertia::data, KDL::Vector::data, h, I, and m.

Referenced by operator*, operator*, operator*, operator*, operator+, RefPoint(), and Zero().

◆ ~RigidBodyInertia()

KDL::RigidBodyInertia::~RigidBodyInertia ( )

inline

◆ RigidBodyInertia() [2/2]

KDL::RigidBodyInertia::RigidBodyInertia	(	double	m,
		const Vector &	h,
		const RotationalInertia &	I,
		bool	mhi )

private

References h, I, m, and KDL::mhi.

Member Function Documentation

◆ getCOG()

Vector KDL::RigidBodyInertia::getCOG ( ) const

inline

Get the center of gravity of the rigid body.

References h, m, and KDL::Vector::Zero().

◆ getMass()

double KDL::RigidBodyInertia::getMass ( ) const

inline

Get the mass of the rigid body.

References m.

◆ getRotationalInertia()

RotationalInertia KDL::RigidBodyInertia::getRotationalInertia ( ) const

inline

Get the rotational inertia expressed in the reference frame (not the cog)

References I.

◆ RefPoint()

RigidBodyInertia KDL::RigidBodyInertia::RefPoint ( const Vector & p )

Reference point change with v the vector from the old to the new point expressed in the current reference frame.

References KDL::RotationalInertia::data, KDL::Vector::data, h, I, m, KDL::mhi, and RigidBodyInertia().

◆ Zero()

static RigidBodyInertia KDL::RigidBodyInertia::Zero ( )

inlinestatic

Creates an inertia with zero mass, and zero RotationalInertia.

References RigidBodyInertia(), KDL::RotationalInertia::Zero(), and KDL::Vector::Zero().

Friends And Related Symbol Documentation

◆ ArticulatedBodyInertia

friend class ArticulatedBodyInertia

friend

References ArticulatedBodyInertia.

Referenced by ArticulatedBodyInertia.

◆ operator* [1/4]

RigidBodyInertia operator*	(	const Frame &	T,
		const RigidBodyInertia &	I )

friend

Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.

References KDL::Rotation::data, KDL::RotationalInertia::data, KDL::Vector::data, I, KDL::Frame::Inverse(), KDL::Frame::M, KDL::mhi, KDL::Frame::p, and RigidBodyInertia().

◆ operator* [2/4]

Wrench operator*	(	const RigidBodyInertia &	I,
		const Twist &	t )

friend

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

References I, RigidBodyInertia(), KDL::Twist::rot, and KDL::Twist::vel.

◆ operator* [3/4]

RigidBodyInertia operator*	(	const Rotation &	R,
		const RigidBodyInertia &	I )

friend

Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.

References KDL::Rotation::data, KDL::RotationalInertia::data, I, KDL::mhi, and RigidBodyInertia().

◆ operator* [4/4]

RigidBodyInertia operator*	(	double	a,
		const RigidBodyInertia &	I )

friend

Scalar product: I_new = double * I_old.

References I, KDL::mhi, and RigidBodyInertia().

◆ operator+

RigidBodyInertia operator+	(	const RigidBodyInertia &	Ia,
		const RigidBodyInertia &	Ib )

friend

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

References h, I, m, KDL::mhi, and RigidBodyInertia().