rotationalinertia.hpp

// Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
 
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
 
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
 
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
 
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
#ifndef KDL_ROTATIONALINERTIA_HPP
#define KDL_ROTATIONALINERTIA_HPP
 
#include "frames.hpp"
 
//------- class for only the Rotational Inertia --------
 
namespace KDL
{
    //Forward declaration
    class RigidBodyInertia;
 
    class RotationalInertia{
    public:
              
        explicit RotationalInertia(double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
        
        static inline RotationalInertia Zero(){
            return RotationalInertia(0,0,0,0,0,0);
        };
 
        friend RotationalInertia operator*(double a, const RotationalInertia& I);
        friend RotationalInertia operator+(const RotationalInertia& Ia, const RotationalInertia& Ib);

        KDL::Vector operator*(const KDL::Vector& omega) const;
        
        ~RotationalInertia();
 
        friend class RigidBodyInertia;
        friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
        friend RigidBodyInertia operator+(const RigidBodyInertia& Ia,const RigidBodyInertia& Ib);
        friend Wrench operator*(const RigidBodyInertia& I,const Twist& t);
        friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
        friend RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
 
        double data[9];
    };
 
    RotationalInertia operator*(double a, const RotationalInertia& I);
    RotationalInertia operator+(const RotationalInertia& Ia, const RotationalInertia& Ib);
 
}
 
#endif