#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.

Referenced by Zero().

◆ ~Inertia()

KDL::Inertia::~Inertia ( )

F = m*a

Definition at line 45 of file inertia.cpp.

Member Function Documentation

◆ Zero()

static Inertia KDL::Inertia::Zero ( )

inlinestatic

Definition at line 46 of file inertia.hpp.

References Inertia().

Friends And Related Symbol Documentation

◆ Frame

friend class Frame

friend

Definition at line 51 of file inertia.hpp.

◆ Rotation

friend class Rotation

friend

Definition at line 50 of file inertia.hpp.

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

Public Member Functions

Static Public Member Functions

Friends