RigidBodyInertia.hxx

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//
// Copyright (c) 2009, Markus Rickert
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//
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#ifndef RL_MATH_RIGIDBODYINERTIA_HXX
#define RL_MATH_RIGIDBODYINERTIA_HXX
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template<typename Scalar>
            template<typename OtherScalar>
            inline
            ForceVector<Scalar>
            RigidBodyInertia<Scalar>::operator*(const MotionVector<OtherScalar>& other) const
            {
                ForceVector<Scalar> res;
                res.moment() = inertia() * other.angular() + cog().cross(other.linear());
                res.force() = mass() * other.linear() - cog().cross(other.angular());
                return res;
            }
        }
    }
}
 
#endif // RL_MATH_RIGIDBODYINERTIA_HXX