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22 #ifndef KDL_ROTATIONALINERTIA_HPP
23 #define KDL_ROTATIONALINERTIA_HPP
32 class RigidBodyInertia;
37 explicit RotationalInertia(
double Ixx=0,
double Iyy=0,
double Izz=0,
double Ixy=0,
double Ixz=0,
double Iyz=0);
double data[3]
Definition: frames.hpp:163
~RotationalInertia()
Definition: rotationalinertia.cpp:39
RotationalInertia operator*(double a, const RotationalInertia &I)
Definition: rotationalinertia.cpp:50
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:51
static RotationalInertia Zero()
Definition: rotationalinertia.hpp:39
RotationalInertia(double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
Definition: rotationalinertia.cpp:28
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
friend RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
Definition: rotationalinertia.cpp:56
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
friend RotationalInertia operator*(double a, const RotationalInertia &I)
Definition: rotationalinertia.cpp:50
represents both translational and rotational velocities.
Definition: frames.hpp:720
represents both translational and rotational acceleration.
Definition: frames.hpp:879
Definition: frames.hpp:570
Definition: rotationalinertia.hpp:34
RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
Definition: rotationalinertia.cpp:56
double data[9]
Definition: rotationalinertia.hpp:65
ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition: articulatedbodyinertia.cpp:55
represents rotations in 3 dimensional space.
Definition: frames.hpp:302