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kdl
inertia.cpp
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "
inertia.hpp
"
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#include <Eigen/Core>
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namespace
KDL
{
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using namespace
Eigen
;
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Inertia::Inertia
(
double
m,
double
Ixx,
double
Iyy,
double
Izz,
double
Ixy,
double
Ixz,
double
Iyz):
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data
(Matrix<
double
,6,6>::Zero())
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{
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data(0,0)=Ixx;
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data(1,1)=Iyy;
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data(2,2)=Izz;
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data(2,1)=data(1,2)=Ixy;
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data(3,1)=data(1,3)=Ixz;
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data(3,2)=data(2,3)=Iyz;
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data.block(3,3,3,3)=m*Matrix<double,3,3>::Identity();
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}
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Inertia::~Inertia
()
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{
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}
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}
double
typedef double(DMatrix)[4][4]
data
data
Definition:
bmesh_operator_api_inline.h:157
KDL::Inertia::~Inertia
~Inertia()
Definition:
inertia.cpp:45
KDL::Inertia::Inertia
Inertia(double m=0, double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
Definition:
inertia.cpp:32
inertia.hpp
Eigen
Definition:
ConstrainedConjugateGradient.h:12
KDL
Definition:
chain.cpp:27
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