Inertial.hh
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Matrix3< T > Moi() const
Get the moment of inertia matrix computer about the body's center of mass and expressed in this Inert...
Definition: Inertial.hh:129
A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric...
Definition: MassMatrix3.hh:45
bool SetPose(const Pose3< T > &_pose)
Set the pose of the center of mass reference frame.
Definition: Inertial.hh:103
The Inertial object provides a representation for the mass and inertia matrix of a body B...
Definition: Inertial.hh:45
Inertial(const Inertial< T > &_inertial)
Copy constructor.
Definition: Inertial.hh:67
bool IsValid(const T _tolerance=IGN_MASSMATRIX3_DEFAULT_TOLERANCE< T >) const
Verify that inertia values are positive semi-definite and satisfy the triangle inequality.
Definition: MassMatrix3.hh:595
bool operator==(const Inertial< T > &_inertial) const
Equality comparison operator.
Definition: Inertial.hh:188
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...
Definition: Inertial.hh:265
bool SetInertialRotation(const Quaternion< T > &_q)
Set the inertial pose rotation without affecting the MOI in the base coordinate frame.
Definition: Inertial.hh:139
Inertial< T > & operator+=(const Inertial< T > &_inertial)
Adds inertial properties to current object. The mass, center of mass location, and inertia matrix are...
Definition: Inertial.hh:207
Inertial(const MassMatrix3< T > &_massMatrix, const Pose3< T > &_pose)
Constructs an inertial object from the mass matrix for a body B, about its center of mass Bcm...
Definition: Inertial.hh:60
The Vector3 class represents the generic vector containing 3 elements. Since it's commonly used to ke...
Definition: Vector3.hh:40
Inertial & operator=(const Inertial< T > &_inertial)
Equal operator.
Definition: Inertial.hh:176
T pow(T... args)
Matrix3< T > Transposed() const
Return the transpose of this matrix.
Definition: Matrix3.hh:480
const MassMatrix3< T > & MassMatrix() const
Get the mass and inertia matrix.
Definition: Inertial.hh:95
Definition: Angle.hh:42
Quaternion< T > Inverse() const
Get the inverse of this quaternion.
Definition: Quaternion.hh:132
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 co...
Definition: Inertial.hh:159
bool SetMassMatrix(const MassMatrix3< T > &_m, const T _tolerance=IGN_MASSMATRIX3_DEFAULT_TOLERANCE< T >)
Set the mass and inertia matrix.
Definition: Inertial.hh:84
const Pose3< T > & Pose() const
Get the pose of the center of mass reference frame.
Definition: Inertial.hh:112
bool operator!=(const Inertial< T > &_inertial) const
Inequality test operator.
Definition: Inertial.hh:197