KDL 1.5.1
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KDL::RotationalInertia Class Reference

#include <src/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
 This function calculates the angular momentum resulting from a rotational velocity omega.
 
 ~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

References data.

Referenced by Zero().

◆ ~RotationalInertia()

KDL::RotationalInertia::~RotationalInertia ( )

Member Function Documentation

◆ operator*()

Vector KDL::RotationalInertia::operator* ( const KDL::Vector & omega) const

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

References data, and KDL::Vector::data.

◆ Zero()

static 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

◆ operator* [2/5]

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

calculate spatial momentum

◆ 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

◆ operator* [4/5]

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

Scalar product.

◆ operator* [5/5]

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

◆ operator+ [1/2]

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

addition

◆ operator+ [2/2]

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

◆ RigidBodyInertia

friend class RigidBodyInertia
friend

Member Data Documentation

◆ data


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