KDL::RotationalInertia Class Reference

#include <rotationalinertia.hpp>

Public Member Functions
	RotationalInertia (double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
KDL::Vector	operator* (const KDL::Vector &omega) const
	~RotationalInertia ()

Static Public Member Functions
static RotationalInertia	Zero ()

Public Attributes
double	data [9]

Friends
class	RigidBodyInertia
RotationalInertia	operator* (double a, const RotationalInertia &I)
RotationalInertia	operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib)
RigidBodyInertia	operator* (double a, const RigidBodyInertia &I)
	Scalar product.
RigidBodyInertia	operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
	addition
Wrench	operator* (const RigidBodyInertia &I, const Twist &t)
	calculate spatial momentum
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
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

Constructor & Destructor Documentation

RotationalInertia()

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

explicit

~RotationalInertia()

KDL::RotationalInertia::~RotationalInertia

(

)

Member Function Documentation

operator*()

KDL::Vector KDL::RotationalInertia::operator*

(

const KDL::Vector &

omega

)

const

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

Zero()

RotationalInertia KDL::RotationalInertia::Zero ( )

inlinestatic

Friends And Related Symbol Documentation

operator* [1/5]

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

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

operator* [2/5]

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

friend

calculate spatial momentum

calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point

operator* [3/5]

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

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

operator* [4/5]

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

friend

Scalar product.

Scalar product: I_new = double * I_old

operator* [5/5]

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

friend

operator+ [1/2]

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

friend

addition

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]

RotationalInertia operator+ ( const RotationalInertia & Ia, const RotationalInertia & Ib )

friend

RigidBodyInertia

friend class RigidBodyInertia

friend

Member Data Documentation

data

double KDL::RotationalInertia::data[9]

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

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