A class for inertial information about a rigid body consisting of the scalar mass, a 3x3 symmetric moment of inertia matrix, and center of mass reference frame pose. More...

#include <ignition/math/Inertial.hh>

Public Member Functions
	Inertial ()
	Default Constructor. More...

	Inertial (const MassMatrix3< T > &_massMatrix, const Pose3< T > &_pose)
	Constructor. More...

	Inertial (const Inertial< T > &_inertial)
	Copy constructor. More...

virtual	~Inertial ()
	Destructor. More...

const MassMatrix3< T > &	MassMatrix () const
	Get the mass and inertia matrix. More...

Matrix3< T >	MOI () const
	Get the moment of inertia matrix expressed in the base coordinate frame. More...

bool	operator!= (const Inertial< T > &_inertial) const
	Inequality test operator. More...

const Inertial< T >	operator+ (const Inertial< T > &_inertial) const
	Adds inertial properties to current object. More...

Inertial< T > &	operator+= (const Inertial< T > &_inertial)
	Adds inertial properties to current object. More...

Inertial &	operator= (const Inertial< T > &_inertial)
	Equal operator. More...

bool	operator== (const Inertial< T > &_inertial) const
	Equality comparison operator. More...

const Pose3< T > &	Pose () const
	Get the pose of center of mass reference frame. More...

bool	SetMassMatrix (const MassMatrix3< T > &_m)
	Set the mass and inertia matrix. More...

bool	SetPose (const Pose3< T > &_pose)
	Set the pose of center of mass reference frame. More...

Detailed Description

template<typename T>
class ignition::math::Inertial< T >

A class for inertial information about a rigid body consisting of the scalar mass, a 3x3 symmetric moment of inertia matrix, and center of mass reference frame pose.

Constructor & Destructor Documentation

template<typename T>

ignition::math::Inertial< T >::Inertial ( )

inline

Default Constructor.

template<typename T>

ignition::math::Inertial< T >::Inertial	(	const MassMatrix3< T > &	_massMatrix,
		const Pose3< T > &	_pose
	)

inline

Constructor.

Parameters

[in]	_massMatrix	Mass and inertia matrix.
[in]	_pose	Pose of center of mass reference frame.

template<typename T>

ignition::math::Inertial< T >::Inertial ( const Inertial< T > & _inertial )

inline

Copy constructor.

Parameters

[in] _inertial Inertial element to copy

template<typename T>

virtual ignition::math::Inertial< T >::~Inertial ( )

inlinevirtual

Destructor.

Member Function Documentation

template<typename T>

const MassMatrix3<T>& ignition::math::Inertial< T >::MassMatrix ( ) const

inline

Get the mass and inertia matrix.

Returns: The MassMatrix3 object.

Referenced by ignition::math::Inertial< T >::operator+=(), ignition::math::Inertial< T >::operator=(), and ignition::math::Inertial< T >::operator==().

template<typename T>

Matrix3<T> ignition::math::Inertial< T >::MOI ( ) const

inline

Get the moment of inertia matrix expressed in the base coordinate frame.

Returns: Rotated moment of inertia matrix.

Referenced by ignition::math::Inertial< T >::operator+=().

template<typename T>

bool ignition::math::Inertial< T >::operator!= ( const Inertial< T > & _inertial ) const

inline

Inequality test operator.

Parameters

[in] _inertial Inertial<T> to test

Returns: True if not equal (using the default tolerance of 1e-6)

template<typename T>

const Inertial<T> ignition::math::Inertial< T >::operator+ ( const Inertial< T > & _inertial ) const

inline

Adds inertial properties to current object.

The mass, center of mass location, and inertia matrix are updated as long as the total mass is positive.

Parameters

[in] _inertial Inertial to add.

Returns: Sum of inertials as new object.

template<typename T>

Inertial<T>& ignition::math::Inertial< T >::operator+= ( const Inertial< T > & _inertial )

inline

Adds inertial properties to current object.

The mass, center of mass location, and inertia matrix are updated as long as the total mass is positive.

Parameters

[in] _inertial Inertial to add.

Returns: Reference to this object.

References ignition::math::Inertial< T >::MassMatrix(), ignition::math::Inertial< T >::MOI(), ignition::math::Inertial< T >::Pose(), ignition::math::Vector3< T >::X(), ignition::math::Vector3< T >::Y(), and ignition::math::Vector3< T >::Z().

template<typename T>

Inertial& ignition::math::Inertial< T >::operator= ( const Inertial< T > & _inertial )

inline

Equal operator.

Parameters

[in] _inertial Inertial to copy.

Returns: Reference to this object.

References ignition::math::Inertial< T >::MassMatrix(), and ignition::math::Inertial< T >::Pose().

template<typename T>

bool ignition::math::Inertial< T >::operator== ( const Inertial< T > & _inertial ) const

inline

Equality comparison operator.

Parameters

[in] _inertial Inertial to copy.

Returns: true if each component is equal within a default tolerance, false otherwise

References ignition::math::Inertial< T >::MassMatrix(), and ignition::math::Inertial< T >::Pose().

template<typename T>

const Pose3<T>& ignition::math::Inertial< T >::Pose ( ) const

inline

Get the pose of center of mass reference frame.

Returns: The pose of center of mass reference frame.

Referenced by ignition::math::Inertial< T >::operator+=(), ignition::math::Inertial< T >::operator=(), and ignition::math::Inertial< T >::operator==().

template<typename T>

bool ignition::math::Inertial< T >::SetMassMatrix ( const MassMatrix3< T > & _m )

inline

Set the mass and inertia matrix.

Parameters

[in] _m New MassMatrix3 object.

Returns: True if the MassMatrix3 is valid.

template<typename T>

bool ignition::math::Inertial< T >::SetPose ( const Pose3< T > & _pose )

inline

Set the pose of center of mass reference frame.

Parameters

[in] _pose New pose.

Returns: True if the MassMatrix3 is valid.

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

Inertial.hh

Public Member Functions

Detailed Description

template<typename T> class ignition::math::Inertial< T >

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class ignition::math::Inertial< T >