forked from bartvdbraak/blender
49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
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// 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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#include "inertia.hpp"
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#include <Eigen/Array>
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namespace KDL {
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using namespace Eigen;
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Inertia::Inertia(double m,double Ixx,double Iyy,double Izz,double Ixy,double Ixz,double Iyz):
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data(Matrix<double,6,6>::Zero())
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{
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data(0,0)=Ixx;
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data(1,1)=Iyy;
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data(2,2)=Izz;
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data(2,1)=data(1,2)=Ixy;
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data(3,1)=data(1,3)=Ixz;
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data(3,2)=data(2,3)=Iyz;
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data.block(3,3,3,3)=m*Matrix<double,3,3>::Identity();
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}
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Inertia::~Inertia()
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{
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}
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}
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