22#ifndef KDL_ROTATIONALINERTIA_HPP
23#define KDL_ROTATIONALINERTIA_HPP
32 class RigidBodyInertia;
37 explicit RotationalInertia(
double Ixx=0,
double Iyy=0,
double Izz=0,
double Ixy=0,
double Ixz=0,
double Iyz=0);
Definition frames.hpp:570
6D Inertia of a rigid body
Definition rigidbodyinertia.hpp:37
represents rotations in 3 dimensional space.
Definition frames.hpp:302
Definition rotationalinertia.hpp:34
static RotationalInertia Zero()
Definition rotationalinertia.hpp:39
~RotationalInertia()
Definition rotationalinertia.cpp:39
friend RotationalInertia operator*(double a, const RotationalInertia &I)
Definition rotationalinertia.cpp:50
double data[9]
Definition rotationalinertia.hpp:65
RotationalInertia(double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
Definition rotationalinertia.cpp:28
friend RotationalInertia operator+(const RotationalInertia &Ia, const RotationalInertia &Ib)
Definition rotationalinertia.cpp:56
represents both translational and rotational velocities.
Definition frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
represents both translational and rotational acceleration.
Definition frames.hpp:879
Definition articulatedbodyinertia.cpp:26
ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition articulatedbodyinertia.cpp:53
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition articulatedbodyinertia.cpp:49