71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDLINERTIA_HPP
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#define KDLINERTIA_HPP
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#include <Eigen/Array>
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#include "frames.hpp"
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namespace KDL {
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using namespace Eigen;
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/**
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* This class offers the inertia-structure of a body
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* An inertia is defined in a certain reference point and a certain reference base.
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* The reference point does not have to coincide with the origin of the reference frame.
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*/
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class Inertia{
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public:
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/**
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* This constructor creates a cartesian space inertia matrix,
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* the arguments are the mass and the inertia moments in the cog.
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*/
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Inertia(double m=0,double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
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static inline Inertia Zero(){
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return Inertia(0,0,0,0,0,0,0);
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};
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friend class Rotation;
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friend class Frame;
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/**
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* F = m*a
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*/
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// Wrench operator* (const AccelerationTwist& acc);
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~Inertia();
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private:
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Matrix<double,6,6,RowMajor> data;
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};
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}
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#endif
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