KDL 1.5.1
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articulatedbodyinertia.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_ARTICULATEDBODYINERTIA_HPP
23#define KDL_ARTICULATEDBODYINERTIA_HPP
24
25#include "frames.hpp"
26
27#include "rotationalinertia.hpp"
28#include "rigidbodyinertia.hpp"
29
30#include <Eigen/Core>
31
32namespace KDL {
33
41 public:
42
49
55
60 explicit ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
61
66 return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
67 };
68
69
71
77 friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
80
86
87 ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);
88
89 Eigen::Matrix3d M;
90 Eigen::Matrix3d H;
91 Eigen::Matrix3d I;
92 };
93
107
112 Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
113
123
124}
125#endif
6D Inertia of a articulated body
Definition articulatedbodyinertia.hpp:40
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:95
friend ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition articulatedbodyinertia.cpp:49
Eigen::Matrix3d I
Definition articulatedbodyinertia.hpp:91
ArticulatedBodyInertia()
This constructor creates a zero articulated body inertia matrix,.
Definition articulatedbodyinertia.hpp:46
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition articulatedbodyinertia.cpp:60
friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
Eigen::Matrix3d M
Definition articulatedbodyinertia.hpp:89
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:53
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
Eigen::Matrix3d H
Definition articulatedbodyinertia.hpp:90
~ArticulatedBodyInertia()
Definition articulatedbodyinertia.hpp:70
static ArticulatedBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition articulatedbodyinertia.hpp:65
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
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.hpp:139
represents both translational and rotational acceleration.
Definition frames.hpp:879
Definition articulatedbodyinertia.cpp:26
ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition articulatedbodyinertia.cpp:60
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