articulatedbodyinertia.cpp File Reference

#include "articulatedbodyinertia.hpp"
#include <Eigen/Core>

Include dependency graph for articulatedbodyinertia.cpp:

Namespaces
namespace	KDL

Functions
ArticulatedBodyInertia	KDL::operator* (double a, const ArticulatedBodyInertia &I)
	Scalar product: I_new = double * I_old.
ArticulatedBodyInertia	KDL::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 reference frame/point, otherwise the result is worth nothing
ArticulatedBodyInertia	KDL::operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	KDL::operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
ArticulatedBodyInertia	KDL::operator- (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Wrench	KDL::operator* (const ArticulatedBodyInertia &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
ArticulatedBodyInertia	KDL::operator* (const Frame &T, const ArticulatedBodyInertia &I)
	Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
ArticulatedBodyInertia	KDL::operator* (const Rotation &M, const ArticulatedBodyInertia &I)
	Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.