KDL::ArticulatedBodyInertia Class Reference

6D Inertia of a articulated body More...

#include <articulatedbodyinertia.hpp>

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

Static Public Member Functions
static ArticulatedBodyInertia	Zero ()

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

Friends
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)
Wrench	operator* (const ArticulatedBodyInertia &I, const Twist &t)
ArticulatedBodyInertia	operator* (const Frame &T, const ArticulatedBodyInertia &I)
ArticulatedBodyInertia	operator* (const Rotation &R, const ArticulatedBodyInertia &I)

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.

Constructor & Destructor Documentation

ArticulatedBodyInertia() [1/4]

KDL::ArticulatedBodyInertia::ArticulatedBodyInertia ( )

inline

This constructor creates a zero articulated body inertia matrix,

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.

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.

~ArticulatedBodyInertia()

KDL::ArticulatedBodyInertia::~ArticulatedBodyInertia ( )

inline

ArticulatedBodyInertia() [4/4]

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

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

Zero()

ArticulatedBodyInertia KDL::ArticulatedBodyInertia::Zero ( )

inlinestatic

Creates an inertia with zero mass, and zero RotationalInertia

Friends And Related Symbol 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

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.

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

operator* [4/4]

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

friend

Scalar product: I_new = double * I_old

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

operator+ [2/2]

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

friend

operator- [1/2]

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

friend

operator- [2/2]

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

friend

Member Data Documentation

H

Eigen::Matrix3d KDL::ArticulatedBodyInertia::H

I

Eigen::Matrix3d KDL::ArticulatedBodyInertia::I

M

Eigen::Matrix3d KDL::ArticulatedBodyInertia::M

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

• build/orocos_kdl_install/include/kdl/articulatedbodyinertia.hpp