KDL::RotationalInertia Class Reference

#include <rotationalinertia.hpp>

List of all members.

Public Member Functions
KDL::Vector	operator* (const KDL::Vector &omega) const
	This function calculates the angular momentum resulting from a rotational velocity omega.
	RotationalInertia (double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
	~RotationalInertia ()
Static Public Member Functions
static RotationalInertia	Zero ()
Public Attributes
double	data [9]
Friends
RigidBodyInertia	operator* (const Rotation &R, const RigidBodyInertia &I)
	base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b
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
Wrench	operator* (const RigidBodyInertia &I, const Twist &t)
	calculate spatial momentum
RigidBodyInertia	operator* (double a, const RigidBodyInertia &I)
	Scalar product.
RotationalInertia	operator* (double a, const RotationalInertia &I)
RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
	addition
RotationalInertia	operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
class	RigidBodyInertia

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Detailed Description

Definition at line 34 of file rotationalinertia.hpp.

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Constructor & Destructor Documentation

KDL::RotationalInertia::RotationalInertia	(	double	Ixx = 0,
		double	Iyy = 0,
		double	Izz = 0,
		double	Ixy = 0,
		double	Ixz = 0,
		double	Iyz = 0
	)

Definition at line 28 of file rotationalinertia.cpp.

References data.

Referenced by Zero().

KDL::RotationalInertia::~RotationalInertia

(

)

Definition at line 39 of file rotationalinertia.cpp.

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Member Function Documentation

Vector KDL::RotationalInertia::operator*

(

const KDL::Vector &

omega

)

const

This function calculates the angular momentum resulting from a rotational velocity omega.

Definition at line 43 of file rotationalinertia.cpp.

References data, KDL::Vector::data, and result.

static RotationalInertia KDL::RotationalInertia::Zero

(

)

[inline, static]

Definition at line 39 of file rotationalinertia.hpp.

References RotationalInertia().

Referenced by KDL::RigidBodyInertia::Zero().

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Friends And Related Function Documentation

RigidBodyInertia operator*	(	const Rotation &	R,
		const RigidBodyInertia &	I
	)			[friend]

base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b

Definition at line 74 of file rigidbodyinertia.cpp.

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

Definition at line 56 of file rigidbodyinertia.cpp.

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

calculate spatial momentum

Definition at line 52 of file rigidbodyinertia.cpp.

RigidBodyInertia operator*	(	double	a,
		const RigidBodyInertia &	I
	)			[friend]

Scalar product.

Definition at line 44 of file rigidbodyinertia.cpp.

RotationalInertia operator*	(	double	a,
		const RotationalInertia &	I
	)			[friend]

RigidBodyInertia operator+	(	const RigidBodyInertia &	Ia,
		const RigidBodyInertia &	Ib
	)			[friend]

addition

Definition at line 48 of file rigidbodyinertia.cpp.

RotationalInertia operator+	(	const RotationalInertia &	Ia,
		const RotationalInertia &	Ib
	)			[friend]

friend class RigidBodyInertia [friend]

Definition at line 53 of file rotationalinertia.hpp.

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Member Data Documentation

double KDL::RotationalInertia::data[9]

Definition at line 65 of file rotationalinertia.hpp.

Referenced by KDL::ArticulatedBodyInertia::ArticulatedBodyInertia(), operator*(), KDL::operator*(), KDL::operator+(), KDL::RigidBodyInertia::RefPoint(), KDL::RigidBodyInertia::RigidBodyInertia(), and RotationalInertia().

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The documentation for this class was generated from the following files:

• rotationalinertia.hpp
• rotationalinertia.cpp