rl::math::spatial::RigidBodyInertia< Scalar > Class Template Reference

Rigid-body inertia. More...

#include <RigidBodyInertia.h>

Public Types
typedef Scalar	ScalarType
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 ()
CenterOfGravityType &	cog ()
ConstCenterOfGravityType &	cog () const
InertiaType &	inertia ()
ConstInertiaType &	inertia () const
MassType &	mass ()
ConstMassType &	mass () const
MatrixType	matrix () const
template<typename OtherDerived >
RigidBodyInertia &	operator= (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 ()

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

ScalarType

template<typename Scalar >

typedef Scalar rl::math::spatial::RigidBodyInertia< Scalar >::ScalarType

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 >

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

inline

operator*() [2/2]

template<typename Scalar >

template<typename OtherScalar >

RigidBodyInertia rl::math::spatial::RigidBodyInertia< Scalar >::operator* ( const 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

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

• rl/math/spatial/ArticulatedBodyInertia.h
• rl/math/spatial/RigidBodyInertia.h
• rl/math/spatial/RigidBodyInertia.hxx