#include <inertia.hpp>

Public Member Functions
	Inertia (double m=0, double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
	~Inertia ()

Static Public Member Functions
static Inertia	Zero ()

Friends
class	Rotation
class	Frame

Detailed Description

This class offers the inertia-structure of a body An inertia is defined in a certain reference point and a certain reference base. The reference point does not have to coincide with the origin of the reference frame.

Definition at line 37 of file inertia.hpp.

Constructor & Destructor Documentation

◆ Inertia()

KDL::Inertia::Inertia	(	double	m = 0,
		double	Ixx = 0,
		double	Iyy = 0,
		double	Izz = 0,
		double	Ixy = 0,
		double	Ixz = 0,
		double	Iyz = 0 )

This constructor creates a cartesian space inertia matrix, the arguments are the mass and the inertia moments in the cog.

Definition at line 32 of file inertia.cpp.

References data, double(), and Zero().

Referenced by Zero().

◆ ~Inertia()

KDL::Inertia::~Inertia ( )

F = m*a

Definition at line 45 of file inertia.cpp.

Member Function Documentation

◆ Zero()

Inertia KDL::Inertia::Zero ( )

inlinestatic

Definition at line 46 of file inertia.hpp.

References Inertia().

Referenced by KDL::Segment::Chain, and Inertia().

◆ Frame

friend class Frame

friend

Definition at line 51 of file inertia.hpp.

References Frame.

Referenced by Frame.

◆ Rotation

friend class Rotation

friend

Definition at line 50 of file inertia.hpp.

References Rotation.

Referenced by Rotation.

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

Public Member Functions

Static Public Member Functions

Friends