Blender  V3.3
inertia.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDLINERTIA_HPP
23 #define KDLINERTIA_HPP
24 
25 #include <Eigen/Core>
26 #include "frames.hpp"
27 
28 namespace KDL {
29 
30 using namespace Eigen;
31 
37 class Inertia{
38 public:
39 
44  Inertia(double m=0,double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
45 
46  static inline Inertia Zero(){
47  return Inertia(0,0,0,0,0,0,0);
48  };
49 
50  friend class Rotation;
51  friend class Frame;
52 
56  // Wrench operator* (const AccelerationTwist& acc);
57 
58 
59  ~Inertia();
60 private:
61  Matrix<double,6,6,RowMajor> data;
62 
63 };
64 
65 
66 
67 
68 }
69 
70 #endif
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:526
static Inertia Zero()
Definition: inertia.hpp:46
represents rotations in 3 dimensional space.
Definition: frames.hpp:299
Definition: chain.cpp:27