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22 #ifndef KDL_RIGIDBODYINERTIA_HPP
23 #define KDL_RIGIDBODYINERTIA_HPP
double data[3]
Definition: frames.hpp:163
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:48
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
Vector getCOG() const
Get the center of gravity of the rigid body.
Definition: rigidbodyinertia.hpp:78
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
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:85
static Vector Zero()
Definition: frames.inl:138
Vector p
origine of the Frame
Definition: frames.hpp:572
const static bool mhi
Definition: rigidbodyinertia.cpp:30
Vector h
Definition: rigidbodyinertia.hpp:93
double m
Definition: rigidbodyinertia.hpp:92
6D Inertia of a articulated body
Definition: articulatedbodyinertia.hpp:40
~RigidBodyInertia()
Definition: rigidbodyinertia.hpp:54
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
represents both translational and rotational velocities.
Definition: frames.hpp:720
represents both translational and rotational acceleration.
Definition: frames.hpp:878
Definition: frames.hpp:570
Definition: rotationalinertia.hpp:34
double getMass() const
Get the mass of the rigid body.
Definition: rigidbodyinertia.hpp:71
static RigidBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: rigidbodyinertia.hpp:49
Vector vel
The velocity of that point.
Definition: frames.hpp:722
double data[9]
Definition: frames.hpp:304
RotationalInertia getRotationalInertia() const
Get the rotational inertia expressed in the reference frame (not the cog)
Definition: rigidbodyinertia.hpp:86
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,...
Definition: rigidbodyinertia.cpp:37
double data[9]
Definition: rotationalinertia.hpp:65
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
RotationalInertia I
Definition: rigidbodyinertia.hpp:94
friend RigidBodyInertia operator*(double a, const RigidBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: rigidbodyinertia.cpp:44
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
represents rotations in 3 dimensional space.
Definition: frames.hpp:301