KDL::Inertia Class Reference

#include <inertia.hpp>

List of all members.

Public Member Functions
	Inertia (double m=0, double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)
	~Inertia ()
Static Public Member Functions
static Inertia	Zero ()
Friends
class	Rotation
class	Frame

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Detailed Description

This class offers the inertia-structure of a body An inertia is defined in a certain reference point and a certain reference base. The reference point does not have to coincide with the origin of the reference frame.

Definition at line 37 of file inertia.hpp.

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Constructor & Destructor Documentation

KDL::Inertia::Inertia	(	double	m = 0,
		double	Ixx = 0,
		double	Iyy = 0,
		double	Izz = 0,
		double	Ixy = 0,
		double	Ixz = 0,
		double	Iyz = 0
	)

This constructor creates a cartesian space inertia matrix, the arguments are the mass and the inertia moments in the cog.

Definition at line 32 of file inertia.cpp.

KDL::Inertia::~Inertia

(

)

F = m*a

Definition at line 45 of file inertia.cpp.

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Member Function Documentation

static Inertia KDL::Inertia::Zero

(

)

[inline, static]

Definition at line 46 of file inertia.hpp.

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Friends And Related Function Documentation

friend class Frame [friend]

Definition at line 51 of file inertia.hpp.

friend class Rotation [friend]

Definition at line 48 of file inertia.hpp.

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The documentation for this class was generated from the following files:

• inertia.hpp
• inertia.cpp