Rigid Body Dynamics Library

Describes all properties of a single body. More...
#include <Body.h>
Public Member Functions  
Body ()  
Body (const Body &body)  
Body &  operator= (const Body &body) 
Body (const Math::Scalar &mass, const Math::Vector3d &com, const Math::Vector3d &gyration_radii)  
Constructs a body from mass, center of mass and radii of gyration. More...  
Body (const Math::Scalar &mass, const Math::Vector3d &com, const Math::Matrix3d &inertia_C)  
Constructs a body from mass, center of mass, and a 3x3 inertia matrix. More...  
void  Join (const Math::SpatialTransform &transform, const Body &other_body) 
Joins inertial parameters of two bodies to create a composite body. More...  
~Body ()  
Data Fields  
Math::Scalar  mMass 
The mass of the body. More...  
Math::Vector3d  mCenterOfMass 
The position of the center of mass in body coordinates. More...  
Math::Matrix3d  mInertia 
Inertia matrix at the center of mass. More...  
bool  mIsVirtual 
Describes all properties of a single body.
A Body contains information about mass, the location of its center of mass, and the ineria tensor in the center of mass. This class is designed to use the given information and transform it such that it can directly be used by the spatial algebra.

inline 
Constructs a body from mass, center of mass and radii of gyration.
This constructor eases the construction of a new body as all the required parameters can be specified as parameters to the constructor. These are then used to generate the spatial inertia matrix which is expressed at the origin.
mass  the mass of the body 
com  the position of the center of mass in the bodies coordinates 
gyration_radii  the radii of gyration at the center of mass of the body 

inline 
Constructs a body from mass, center of mass, and a 3x3 inertia matrix.
This constructor eases the construction of a new body as all the required parameters can simply be specified as parameters to the constructor. These are then used to generate the spatial inertia matrix which is expressed at the origin.
mass  the mass of the body 
com  the position of the center of mass in the bodies coordinates 
inertia_C  the inertia at the center of mass 

inline 
Joins inertial parameters of two bodies to create a composite body.
This function can be used to joint inertial parameters of two bodies to create a composite body that has the inertial properties as if the two bodies were joined by a fixed joint.
transform  The frame transformation from the current body to the other body. 
other_body  The other body that will be merged with *this. 
Definition at line 108 of file Body.h.
References SpatialRigidBodyInertia::createFromMassComInertiaC(), SpatialTransform::E, Body::mCenterOfMass, Body::mInertia, Body::mMass, RigidBodyDynamics::Math::parallel_axis(), SpatialTransform::r, SpatialRigidBodyInertia::toMatrix(), and RigidBodyDynamics::Math::VectorCrossMatrix().
Definition at line 41 of file Body.h.
References Body::mCenterOfMass, Body::mInertia, Body::mIsVirtual, and Body::mMass.
Math::Vector3d mCenterOfMass 
Math::Matrix3d mInertia 
Math::Scalar mMass 