See V. Duindum p39-40 & Featherstone p32-33. More...
#include "rdl_dynamics/rdl_eigenmath.hpp"
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Classes | |
| class | RobotDynamics::Math::RigidBodyInertia |
| This class stores a bodies mass, center of mass, and inertia information. The inertia elements are stored individually since the inertia matrix is a 3x3 symmetric matrix. The bodies inertia matrix, expressed about its center of mass, can be reconstructed as. More... | |
Namespaces | |
| RobotDynamics | |
| Namespace for all structures of the RobotDynamics library. | |
| RobotDynamics::Math | |
| Math types such as vectors and matrices and utility functions. | |
Typedefs | |
| typedef std::vector< RigidBodyInertia, Eigen::aligned_allocator< RigidBodyInertia > > | RobotDynamics::Math::RigidBodyInertiaV |
Functions | |
| RigidBodyInertia | RobotDynamics::Math::operator+ (RigidBodyInertia rbi_in, const RigidBodyInertia &rbi) |
| Add two Math::RigidBodyInertia objects together. More... | |
| SpatialVector | RobotDynamics::Math::operator* (const RigidBodyInertia &I, const SpatialVector &v) |
| Operator for multiplying a Math::RigidBodyInertia by a Math::SpatialVector. More... | |
| Matrix63 | RobotDynamics::Math::operator* (const RigidBodyInertia &I, const Matrix63 &m) |
| Operator for multiplying a Math::RigidBodyInertia by a Math::Matrix63. More... | |
| static RigidBodyInertia | RobotDynamics::Math::createFromMassComInertiaC (double mass, const Vector3d &com, const Matrix3d &inertia_C) |
Detailed Description
See V. Duindum p39-40 & Featherstone p32-33.
