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inertia.hpp
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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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#ifndef KDLINERTIA_HPP
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#define KDLINERTIA_HPP
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#include <Eigen/Core>
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#include "
frames.hpp
"
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namespace
KDL
{
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using namespace
Eigen
;
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class
Inertia
{
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public
:
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Inertia
(
double
m=0,
double
Ixx=0,
double
Iyy=0,
double
Izz=0,
double
Ixy=0,
double
Ixz=0,
double
Iyz=0);
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static
inline
Inertia
Zero
(){
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return
Inertia
(0,0,0,0,0,0,0);
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};
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friend
class
Rotation
;
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friend
class
Frame
;
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// Wrench operator* (const AccelerationTwist& acc);
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~
Inertia
();
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private
:
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Matrix<double,6,6,RowMajor>
data
;
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};
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}
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#endif
data
data
Definition:
bmesh_operator_api_inline.h:157
KDL::Frame
represents a frame transformation in 3D space (rotation + translation)
Definition:
frames.hpp:526
KDL::Inertia
Definition:
inertia.hpp:37
KDL::Inertia::Zero
static Inertia Zero()
Definition:
inertia.hpp:46
KDL::Rotation
represents rotations in 3 dimensional space.
Definition:
frames.hpp:299
frames.hpp
Eigen
Definition:
ConstrainedConjugateGradient.h:12
KDL
Definition:
chain.cpp:27
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