Robotics Library  0.7.0
Public Types | Public Member Functions | Public Attributes | Private Attributes | List of all members
rl::math::spatial::RigidBodyInertia< Scalar > Class Template Reference

Rigid-body inertia. More...

#include <ArticulatedBodyInertia.h>

Public Types

typedef ::Eigen::Matrix< Scalar, 6, 6 > MatrixType
 
typedef ::Eigen::Matrix< Scalar, 3, 1 > CenterOfGravityType
 
typedef const CenterOfGravityType ConstCenterOfGravityType
 
typedef ::Eigen::Matrix< Scalar, 3, 3 > InertiaType
 
typedef const InertiaType ConstInertiaType
 
typedef Scalar MassType
 
typedef const MassType ConstMassType
 

Public Member Functions

 RigidBodyInertia ()
 
template<typename OtherDerived >
 RigidBodyInertia (const ::Eigen::DenseBase< OtherDerived > &other)
 
virtual ~RigidBodyInertia ()
 
CenterOfGravityTypecog ()
 
ConstCenterOfGravityTypecog () const
 
InertiaTypeinertia ()
 
ConstInertiaTypeinertia () const
 
MassTypemass ()
 
ConstMassTypemass () const
 
MatrixType matrix () const
 
template<typename OtherDerived >
RigidBodyInertiaoperator= (const ::Eigen::MatrixBase< OtherDerived > &other)
 
RigidBodyInertia operator+ (const RigidBodyInertia &other) const
 
RigidBodyInertia operator- (const RigidBodyInertia &other) const
 
template<typename OtherScalar >
RigidBodyInertia operator* (const OtherScalar &other) const
 
template<typename OtherScalar >
ForceVector< Scalar > operator* (const MotionVector< OtherScalar > &other) const
 
template<typename OtherScalar >
RigidBodyInertia operator/ (const OtherScalar &other) const
 
void setIdentity ()
 
void setZero ()
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar ScalarType
 

Private Attributes

CenterOfGravityType centerOfGravityData
 
InertiaType inertiaData
 
MassType massData
 

Detailed Description

template<typename Scalar>
class rl::math::spatial::RigidBodyInertia< Scalar >

Rigid-body inertia.

Member Typedef Documentation

◆ CenterOfGravityType

template<typename Scalar>
typedef ::Eigen::Matrix<Scalar, 3, 1> rl::math::spatial::RigidBodyInertia< Scalar >::CenterOfGravityType

◆ ConstCenterOfGravityType

template<typename Scalar>
typedef const CenterOfGravityType rl::math::spatial::RigidBodyInertia< Scalar >::ConstCenterOfGravityType

◆ ConstInertiaType

template<typename Scalar>
typedef const InertiaType rl::math::spatial::RigidBodyInertia< Scalar >::ConstInertiaType

◆ ConstMassType

template<typename Scalar>
typedef const MassType rl::math::spatial::RigidBodyInertia< Scalar >::ConstMassType

◆ InertiaType

template<typename Scalar>
typedef ::Eigen::Matrix<Scalar, 3, 3> rl::math::spatial::RigidBodyInertia< Scalar >::InertiaType

◆ MassType

template<typename Scalar>
typedef Scalar rl::math::spatial::RigidBodyInertia< Scalar >::MassType

◆ MatrixType

template<typename Scalar>
typedef ::Eigen::Matrix<Scalar, 6, 6> rl::math::spatial::RigidBodyInertia< Scalar >::MatrixType

Constructor & Destructor Documentation

◆ RigidBodyInertia() [1/2]

template<typename Scalar>
rl::math::spatial::RigidBodyInertia< Scalar >::RigidBodyInertia ( )
inline

◆ RigidBodyInertia() [2/2]

template<typename Scalar>
template<typename OtherDerived >
rl::math::spatial::RigidBodyInertia< Scalar >::RigidBodyInertia ( const ::Eigen::DenseBase< OtherDerived > &  other)
inline

◆ ~RigidBodyInertia()

template<typename Scalar>
virtual rl::math::spatial::RigidBodyInertia< Scalar >::~RigidBodyInertia ( )
inlinevirtual

Member Function Documentation

◆ cog() [1/2]

template<typename Scalar>
CenterOfGravityType& rl::math::spatial::RigidBodyInertia< Scalar >::cog ( )
inline

◆ cog() [2/2]

template<typename Scalar>
ConstCenterOfGravityType& rl::math::spatial::RigidBodyInertia< Scalar >::cog ( ) const
inline

◆ inertia() [1/2]

template<typename Scalar>
InertiaType& rl::math::spatial::RigidBodyInertia< Scalar >::inertia ( )
inline

◆ inertia() [2/2]

template<typename Scalar>
ConstInertiaType& rl::math::spatial::RigidBodyInertia< Scalar >::inertia ( ) const
inline

◆ mass() [1/2]

template<typename Scalar>
MassType& rl::math::spatial::RigidBodyInertia< Scalar >::mass ( )
inline

◆ mass() [2/2]

template<typename Scalar>
ConstMassType& rl::math::spatial::RigidBodyInertia< Scalar >::mass ( ) const
inline

◆ matrix()

template<typename Scalar>
MatrixType rl::math::spatial::RigidBodyInertia< Scalar >::matrix ( ) const
inline

◆ operator*() [1/2]

template<typename Scalar>
template<typename OtherScalar >
RigidBodyInertia rl::math::spatial::RigidBodyInertia< Scalar >::operator* ( const OtherScalar &  other) const
inline

◆ operator*() [2/2]

template<typename Scalar >
template<typename OtherScalar >
ForceVector< Scalar > rl::math::spatial::RigidBodyInertia< Scalar >::operator* ( const MotionVector< OtherScalar > &  other) const
inline

◆ operator+()

template<typename Scalar>
RigidBodyInertia rl::math::spatial::RigidBodyInertia< Scalar >::operator+ ( const RigidBodyInertia< Scalar > &  other) const
inline

◆ operator-()

template<typename Scalar>
RigidBodyInertia rl::math::spatial::RigidBodyInertia< Scalar >::operator- ( const RigidBodyInertia< Scalar > &  other) const
inline

◆ operator/()

template<typename Scalar>
template<typename OtherScalar >
RigidBodyInertia rl::math::spatial::RigidBodyInertia< Scalar >::operator/ ( const OtherScalar &  other) const
inline

◆ operator=()

template<typename Scalar>
template<typename OtherDerived >
RigidBodyInertia& rl::math::spatial::RigidBodyInertia< Scalar >::operator= ( const ::Eigen::MatrixBase< OtherDerived > &  other)
inline

◆ setIdentity()

template<typename Scalar>
void rl::math::spatial::RigidBodyInertia< Scalar >::setIdentity ( )
inline

◆ setZero()

template<typename Scalar>
void rl::math::spatial::RigidBodyInertia< Scalar >::setZero ( )
inline

Member Data Documentation

◆ centerOfGravityData

template<typename Scalar>
CenterOfGravityType rl::math::spatial::RigidBodyInertia< Scalar >::centerOfGravityData
private

◆ inertiaData

template<typename Scalar>
InertiaType rl::math::spatial::RigidBodyInertia< Scalar >::inertiaData
private

◆ massData

template<typename Scalar>
MassType rl::math::spatial::RigidBodyInertia< Scalar >::massData
private

◆ ScalarType

template<typename Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar rl::math::spatial::RigidBodyInertia< Scalar >::ScalarType

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