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22 #ifndef KDL_ARTICULATEDBODYINERTIA_HPP
23 #define KDL_ARTICULATEDBODYINERTIA_HPP
double data[3]
Definition: frames.hpp:163
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
Frame Inverse() const
Gives back inverse transformation of a Frame.
Definition: frames.inl:422
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:51
static RotationalInertia Zero()
Definition: rotationalinertia.hpp:39
static Vector Zero()
Definition: frames.inl:138
Vector p
origine of the Frame
Definition: frames.hpp:572
Vector h
Definition: rigidbodyinertia.hpp:93
double m
Definition: rigidbodyinertia.hpp:92
6D Inertia of a articulated body
Definition: articulatedbodyinertia.hpp:40
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
ArticulatedBodyInertia()
This constructor creates a zero articulated body inertia matrix,.
Definition: articulatedbodyinertia.hpp:46
Definition: articulatedbodyinertia.cpp:28
ArticulatedBodyInertia operator-(const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition: articulatedbodyinertia.cpp:66
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
represents both translational and rotational velocities.
Definition: frames.hpp:720
Vector torque
Torque that is applied at the origin of the current ref frame.
Definition: frames.hpp:882
represents both translational and rotational acceleration.
Definition: frames.hpp:878
Eigen::Matrix3d H
Definition: articulatedbodyinertia.hpp:90
ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition: articulatedbodyinertia.cpp:62
ArticulatedBodyInertia operator*(const Rotation &M, const ArticulatedBodyInertia &I)
Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.
Definition: articulatedbodyinertia.cpp:92
~ArticulatedBodyInertia()
Definition: articulatedbodyinertia.hpp:70
Definition: frames.hpp:570
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
Definition: rotationalinertia.hpp:34
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition: articulatedbodyinertia.cpp:62
friend ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:51
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
Vector vel
The velocity of that point.
Definition: frames.hpp:722
double data[9]
Definition: frames.hpp:304
Eigen::Matrix3d M
Definition: articulatedbodyinertia.hpp:89
double data[9]
Definition: rotationalinertia.hpp:65
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
RotationalInertia I
Definition: rigidbodyinertia.hpp:94
Eigen::Matrix3d I
Definition: articulatedbodyinertia.hpp:91
ArticulatedBodyInertia operator+(const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition: articulatedbodyinertia.cpp:59
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
Vector force
Force that is applied at the origin of the current ref frame.
Definition: frames.hpp:881
static ArticulatedBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: articulatedbodyinertia.hpp:65
represents rotations in 3 dimensional space.
Definition: frames.hpp:301