Robotics Library  0.7.0
RigidBodyInertia.hxx
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26 
27 #ifndef RL_MATH_RIGIDBODYINERTIA_HXX
28 #define RL_MATH_RIGIDBODYINERTIA_HXX
29 
30 namespace rl
31 {
32  namespace math
33  {
34  namespace spatial
35  {
36  template<typename Scalar>
37  template<typename OtherScalar>
38  inline
39  ForceVector<Scalar>
41  {
43  res.moment() = inertia() * other.angular() + cog().cross(other.linear());
44  res.force() = mass() * other.linear() - cog().cross(other.angular());
45  return res;
46  }
47  }
48  }
49 }
50 
51 #endif // RL_MATH_RIGIDBODYINERTIA_HXX
rl::math::spatial::RigidBodyInertia::operator*
RigidBodyInertia operator*(const OtherScalar &other) const
Definition: RigidBodyInertia.h:151
rl::math::spatial::MotionVector::linear
LinearType linear()
Definition: MotionVector.h:101
rl::math::spatial::ForceVector::force
ForceType force()
Definition: ForceVector.h:81
rl::math::spatial::MotionVector::angular
AngularType angular()
Definition: MotionVector.h:77
rl::math::spatial::ForceVector
Force vector.
Definition: ForceVector.h:46
rl::math::spatial::MotionVector
Motion vector.
Definition: MotionVector.h:45
rl::math::spatial::ForceVector::moment
MomentType moment()
Definition: ForceVector.h:96
rl
Robotics Library.
Definition: AnalogInput.cpp:30