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

Inertial< T > &	operator+= (const Inertial< T > &_inertial)
	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. 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	SetInertialRotation (const Quaternion< T > &_q)
	Set the inertial pose rotation without affecting the MOI in the base coordinate frame. More...

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

bool	SetMassMatrixRotation (const Quaternion< T > &_q, const T _tol=1e-6)
	Set the MassMatrix rotation (eigenvectors of inertia matrix) without affecting the MOI in the base coordinate frame. Note that symmetries in inertia matrix may prevent the output of MassMatrix3::PrincipalAxesOffset to match this function's input _q, but it is guaranteed that the MOI in the base frame will not change. A negative value of _tol (such as -1e-6) can be passed to ensure that diagonal values are always sorted. 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

◆ Inertial() [1/3]

Inertial ( )

inline

Default Constructor.

◆ Inertial() [2/3]

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.

◆ Inertial() [3/3]

Inertial ( const Inertial< T > & _inertial )

inline

Copy constructor.

Parameters

[in] _inertial Inertial element to copy

◆ ~Inertial()

virtual ~Inertial ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ MassMatrix()

const MassMatrix3<T>& MassMatrix ( ) const

inline

Get the mass and inertia matrix.

Returns: The MassMatrix3 object.

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

◆ MOI()

Matrix3<T> MOI ( ) const

inline

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

Returns: Rotated moment of inertia matrix.

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

◆ operator!=()

bool 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)

◆ operator+()

const 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.

◆ operator+=()

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 Inertial< T >::MassMatrix(), Inertial< T >::MOI(), Inertial< T >::Pose(), std::pow(), Vector3< T >::X(), Vector3< T >::Y(), and Vector3< T >::Z().

◆ operator=()

Inertial& operator= ( const Inertial< T > & _inertial )

inline

Equal operator.

Parameters

[in] _inertial Inertial to copy.

Returns: Reference to this object.

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

◆ operator==()

bool 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 Inertial< T >::MassMatrix(), and Inertial< T >::Pose().

◆ Pose()

const Pose3<T>& Pose ( ) const

inline

Get the pose of center of mass reference frame.

Returns: The pose of center of mass reference frame.

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

◆ SetInertialRotation()

bool SetInertialRotation ( const Quaternion< T > & _q )

inline

Set the inertial pose rotation without affecting the MOI in the base coordinate frame.

Parameters

[in] _q New rotation for inertial pose.

Returns: True if the MassMatrix3 is valid.

References Inertial< T >::MOI().

◆ SetMassMatrix()

bool 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.

◆ SetMassMatrixRotation()

bool SetMassMatrixRotation	(	const Quaternion< T > &	_q,
		const T	_tol = `1e-6`
	)

inline

Set the MassMatrix rotation (eigenvectors of inertia matrix) without affecting the MOI in the base coordinate frame. Note that symmetries in inertia matrix may prevent the output of MassMatrix3::PrincipalAxesOffset to match this function's input _q, but it is guaranteed that the MOI in the base frame will not change. A negative value of _tol (such as -1e-6) can be passed to ensure that diagonal values are always sorted.

Parameters

[in]	_q	New rotation.
[in]	_tol	Relative tolerance given by absolute value of _tol. This is passed to the MassMatrix3 PrincipalMoments and PrincipalAxesOffset functions.

Returns: True if the MassMatrix3 is valid.

References Quaternion< T >::Inverse(), Inertial< T >::MassMatrix(), and Matrix3< T >::Transposed().

◆ SetPose()

bool 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

Ignition Math

API Reference

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

◆ Inertial() [1/3]

◆ Inertial() [2/3]

◆ Inertial() [3/3]

◆ ~Inertial()

Member Function Documentation

◆ MassMatrix()

◆ MOI()

◆ operator!=()

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator==()

◆ Pose()

◆ SetInertialRotation()

◆ SetMassMatrix()

◆ SetMassMatrixRotation()

◆ SetPose()

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

◆ Inertial() [1/3]

◆ Inertial() [2/3]

◆ Inertial() [3/3]

◆ ~Inertial()

Member Function Documentation

◆ MassMatrix()

◆ MOI()

◆ operator!=()

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator==()

◆ Pose()

◆ SetInertialRotation()

◆ SetMassMatrix()

◆ SetMassMatrixRotation()

◆ SetPose()

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