Rigid Body Dynamics Library
Public Member Functions | Static Public Member Functions | Data Fields
SpatialRigidBodyInertia Struct Reference

Compact representation for Spatial Inertia. More...

#include <SpatialAlgebraOperators.h>

Public Member Functions

 SpatialRigidBodyInertia ()
 
 SpatialRigidBodyInertia (Scalar mass, const Vector3d &com_mass, const Matrix3d &inertia)
 
 SpatialRigidBodyInertia (Scalar m, const Vector3d &h, const Scalar &Ixx, const Scalar &Iyx, const Scalar &Iyy, const Scalar &Izx, const Scalar &Izy, const Scalar &Izz)
 
SpatialVector operator* (const SpatialVector &mv)
 
SpatialRigidBodyInertia operator+ (const SpatialRigidBodyInertia &rbi)
 
void createFromMatrix (const SpatialMatrix &Ic)
 
SpatialMatrix toMatrix () const
 
void setSpatialMatrix (SpatialMatrix &mat) const
 

Static Public Member Functions

static SpatialRigidBodyInertia createFromMassComInertiaC (Scalar mass, const Vector3d &com, const Matrix3d &inertia_C)
 

Data Fields

Scalar m
 Mass. More...
 
Vector3d h
 Coordinates of the center of mass. More...
 
Scalar Ixx
 Inertia expressed at the origin. More...
 
Scalar Iyx
 
Scalar Iyy
 
Scalar Izx
 
Scalar Izy
 
Scalar Izz
 

Detailed Description

Compact representation for Spatial Inertia.

Definition at line 27 of file SpatialAlgebraOperators.h.

Constructor & Destructor Documentation

◆ SpatialRigidBodyInertia() [1/3]

SpatialRigidBodyInertia ( )
inline

Definition at line 28 of file SpatialAlgebraOperators.h.

◆ SpatialRigidBodyInertia() [2/3]

SpatialRigidBodyInertia ( Scalar  mass,
const Vector3d &  com_mass,
const Matrix3d &  inertia 
)
inline

Definition at line 33 of file SpatialAlgebraOperators.h.

◆ SpatialRigidBodyInertia() [3/3]

SpatialRigidBodyInertia ( Scalar  m,
const Vector3d &  h,
const Scalar &  Ixx,
const Scalar &  Iyx,
const Scalar &  Iyy,
const Scalar &  Izx,
const Scalar &  Izy,
const Scalar &  Izz 
)
inline

Definition at line 40 of file SpatialAlgebraOperators.h.

Member Function Documentation

◆ createFromMassComInertiaC()

static SpatialRigidBodyInertia createFromMassComInertiaC ( Scalar  mass,
const Vector3d &  com,
const Matrix3d &  inertia_C 
)
inlinestatic

Definition at line 116 of file SpatialAlgebraOperators.h.

References SpatialRigidBodyInertia::h, SpatialRigidBodyInertia::Ixx, SpatialRigidBodyInertia::Iyx, SpatialRigidBodyInertia::Iyy, SpatialRigidBodyInertia::Izx, SpatialRigidBodyInertia::Izy, SpatialRigidBodyInertia::Izz, SpatialRigidBodyInertia::m, and RigidBodyDynamics::Math::VectorCrossMatrix().

◆ createFromMatrix()

void createFromMatrix ( const SpatialMatrix &  Ic)
inline

Definition at line 77 of file SpatialAlgebraOperators.h.

◆ operator*()

SpatialVector operator* ( const SpatialVector &  mv)
inline

Definition at line 51 of file SpatialAlgebraOperators.h.

◆ operator+()

SpatialRigidBodyInertia operator+ ( const SpatialRigidBodyInertia &  rbi)
inline

Definition at line 67 of file SpatialAlgebraOperators.h.

References SpatialRigidBodyInertia::h, SpatialRigidBodyInertia::Ixx, SpatialRigidBodyInertia::Iyx, SpatialRigidBodyInertia::Iyy, SpatialRigidBodyInertia::Izx, SpatialRigidBodyInertia::Izy, SpatialRigidBodyInertia::Izz, and SpatialRigidBodyInertia::m.

◆ setSpatialMatrix()

void setSpatialMatrix ( SpatialMatrix &  mat) const
inline

Definition at line 98 of file SpatialAlgebraOperators.h.

◆ toMatrix()

SpatialMatrix toMatrix ( ) const
inline

Definition at line 85 of file SpatialAlgebraOperators.h.

References RigidBodyDynamics::Math::VectorCrossMatrix().

Field Documentation

◆ h

Vector3d h

Coordinates of the center of mass.

Definition at line 133 of file SpatialAlgebraOperators.h.

◆ Ixx

Scalar Ixx

Inertia expressed at the origin.

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Iyx

Scalar Iyx

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Iyy

Scalar Iyy

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Izx

Scalar Izx

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Izy

Scalar Izy

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ Izz

Scalar Izz

Definition at line 135 of file SpatialAlgebraOperators.h.

◆ m

Scalar m

Mass.

Definition at line 131 of file SpatialAlgebraOperators.h.

The documentation for this struct was generated from the following file: