KDL::ArticulatedBodyInertia Class Reference

6D Inertia of a articulated body More...

#include <articulatedbodyinertia.hpp>

Public Member Functions
	ArticulatedBodyInertia ()
	ArticulatedBodyInertia (const Eigen::Matrix3d &M, const Eigen::Matrix3d &H, const Eigen::Matrix3d &I)
	ArticulatedBodyInertia (const RigidBodyInertia &rbi)
	ArticulatedBodyInertia (double m, const Vector &oc=Vector::Zero(), const RotationalInertia &Ic=RotationalInertia::Zero())
ArticulatedBodyInertia	RefPoint (const Vector &p)
	~ArticulatedBodyInertia ()

Static Public Member Functions
static ArticulatedBodyInertia	Zero ()

Public Attributes
Eigen::Matrix3d	H
Eigen::Matrix3d	I
Eigen::Matrix3d	M

Friends
Wrench	operator* (const ArticulatedBodyInertia &I, const Twist &t)
ArticulatedBodyInertia	operator* (const Frame &T, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator* (const Rotation &R, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator* (double a, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)

Detailed Description

6D Inertia of a articulated 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.

Definition at line 40 of file articulatedbodyinertia.hpp.

Constructor & Destructor Documentation

ArticulatedBodyInertia() [1/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( )

inline

This constructor creates a zero articulated body inertia matrix,

Definition at line 46 of file articulatedbodyinertia.hpp.

ArticulatedBodyInertia() [2/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia

(

const RigidBodyInertia &

rbi

)

This constructor creates a cartesian space articulated body inertia matrix, the arguments is a rigid body inertia.

Definition at line 28 of file articulatedbodyinertia.cpp.

ArticulatedBodyInertia() [3/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( double  m, 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.

Definition at line 37 of file articulatedbodyinertia.cpp.

~ArticulatedBodyInertia()

KDL::ArticulatedBodyInertia::~ArticulatedBodyInertia ( )

inline

Definition at line 70 of file articulatedbodyinertia.hpp.

ArticulatedBodyInertia() [4/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia	(	const Eigen::Matrix3d &	M,
		const Eigen::Matrix3d &	H,
		const Eigen::Matrix3d &	I
	)

Definition at line 42 of file articulatedbodyinertia.cpp.

Member Function Documentation

RefPoint()

ArticulatedBodyInertia KDL::ArticulatedBodyInertia::RefPoint

(

const Vector &

p

)

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

Definition at line 95 of file articulatedbodyinertia.cpp.

Zero()

static ArticulatedBodyInertia KDL::ArticulatedBodyInertia::Zero ( )

inlinestatic

Creates an inertia with zero mass, and zero RotationalInertia

Definition at line 65 of file articulatedbodyinertia.hpp.

Friends And Related Function Documentation

operator* [1/4]

Wrench operator* ( const ArticulatedBodyInertia &  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

Definition at line 68 of file articulatedbodyinertia.cpp.

operator* [2/4]

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

friend

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

Definition at line 75 of file articulatedbodyinertia.cpp.

operator* [3/4]

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

friend

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

Definition at line 90 of file articulatedbodyinertia.cpp.

operator* [4/4]

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

friend

Scalar product: I_new = double * I_old

Definition at line 49 of file articulatedbodyinertia.cpp.

operator+ [1/2]

ArticulatedBodyInertia operator+ ( const ArticulatedBodyInertia &  Ia, const ArticulatedBodyInertia &  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

Definition at line 53 of file articulatedbodyinertia.cpp.

operator+ [2/2]

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

friend

operator- [1/2]

ArticulatedBodyInertia operator- ( const ArticulatedBodyInertia &  Ia, const ArticulatedBodyInertia &  Ib  )

friend

Definition at line 60 of file articulatedbodyinertia.cpp.

operator- [2/2]

ArticulatedBodyInertia operator- ( const ArticulatedBodyInertia &  Ia, const RigidBodyInertia &  Ib  )

friend

Member Data Documentation

H

Eigen::Matrix3d KDL::ArticulatedBodyInertia::H

Definition at line 90 of file articulatedbodyinertia.hpp.

I

Eigen::Matrix3d KDL::ArticulatedBodyInertia::I

Definition at line 91 of file articulatedbodyinertia.hpp.

M

Eigen::Matrix3d KDL::ArticulatedBodyInertia::M

Definition at line 89 of file articulatedbodyinertia.hpp.

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

• articulatedbodyinertia.hpp
• articulatedbodyinertia.cpp