rigidbodyinertia.hpp File Reference

#include "frames.hpp"
#include "rotationalinertia.hpp"

Include dependency graph for rigidbodyinertia.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	KDL::RigidBodyInertia
	6D Inertia of a rigid body More...

Namespaces
namespace	KDL

Functions
RigidBodyInertia	KDL::operator* (double a, const RigidBodyInertia &I)
	Scalar product: I_new = double * I_old.
RigidBodyInertia	KDL::operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib)
	addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing
Wrench	KDL::operator* (const RigidBodyInertia &I, const Twist &t)
	calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point
RigidBodyInertia	KDL::operator* (const Frame &T, const RigidBodyInertia &I)
	Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
RigidBodyInertia	KDL::operator* (const Rotation &M, const RigidBodyInertia &I)
	Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.