Rigid Body Dynamics Library
SpatialRigidBodyInertia Struct Reference

Compact representation for Spatial Inertia. More...

Public Member Functions

 SpatialRigidBodyInertia ()
 
 SpatialRigidBodyInertia (double mass, const Vector3d &com_mass, const Matrix3d &inertia)
 
 SpatialRigidBodyInertia (double m, const Vector3d &h, const double &Ixx, const double &Iyx, const double &Iyy, const double &Izx, const double &Izy, const double &Izz)
 
SpatialVector operator* (const SpatialVector &mv)
 
SpatialRigidBodyInertia operator+ (const SpatialRigidBodyInertia &rbi)
 
void createFromMatrix (const SpatialMatrix &Ic)
 
SpatialMatrix toMatrix () const
 
void setSpatialMatrix (SpatialMatrix &mat) const
 

Static Public Member Functions

static SpatialRigidBodyInertia createFromMassComInertiaC (double mass, const Vector3d &com, const Matrix3d &inertia_C)
 

Data Fields

double m
 Mass. More...
 
Vector3d h
 Coordinates of the center of mass. More...
 
double Ixx
 Inertia expressed at the origin. More...
 
double Iyx
 
double Iyy
 
double Izx
 
double Izy
 
double Izz
 

Detailed Description

Compact representation for Spatial Inertia.

Definition at line 27 of file SpatialAlgebraOperators.h.

Constructor & Destructor Documentation

◆ SpatialRigidBodyInertia() [1/3]

Definition at line 28 of file SpatialAlgebraOperators.h.

◆ SpatialRigidBodyInertia() [2/3]

SpatialRigidBodyInertia ( double  mass,
const Vector3d com_mass,
const Matrix3d inertia 
)
inline

Definition at line 33 of file SpatialAlgebraOperators.h.

◆ SpatialRigidBodyInertia() [3/3]

SpatialRigidBodyInertia ( double  m,
const Vector3d h,
const double &  Ixx,
const double &  Iyx,
const double &  Iyy,
const double &  Izx,
const double &  Izy,
const double &  Izz 
)
inline

Definition at line 40 of file SpatialAlgebraOperators.h.

Member Function Documentation

◆ createFromMassComInertiaC()

◆ createFromMatrix()

void createFromMatrix ( const SpatialMatrix Ic)
inline

Definition at line 77 of file SpatialAlgebraOperators.h.

◆ operator*()

SpatialVector operator* ( const SpatialVector mv)
inline

Definition at line 51 of file SpatialAlgebraOperators.h.

◆ operator+()

◆ setSpatialMatrix()

void setSpatialMatrix ( SpatialMatrix mat) const
inline

Definition at line 98 of file SpatialAlgebraOperators.h.

◆ toMatrix()

SpatialMatrix toMatrix ( ) const
inline

Field Documentation

◆ h

Coordinates of the center of mass.

Definition at line 133 of file SpatialAlgebraOperators.h.

◆ Ixx

double Ixx

Inertia expressed at the origin.

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Iyx

double Iyx

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Iyy

double Iyy

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Izx

double Izx

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Izy

double Izy

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Izz

double Izz

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ m

double m

Mass.

Definition at line 131 of file SpatialAlgebraOperators.h.


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