KDL 1.5.1
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Namespaces | |
namespace | KDL |
Functions | |
RigidBodyInertia | KDL::operator* (double a, const RigidBodyInertia &I) |
Scalar product: I_new = double * I_old. | |
RigidBodyInertia | KDL::operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &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 | |
Wrench | KDL::operator* (const RigidBodyInertia &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 | |
RigidBodyInertia | KDL::operator* (const Frame &T, const RigidBodyInertia &I) |
Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b. | |
RigidBodyInertia | KDL::operator* (const Rotation &R, const RigidBodyInertia &I) |
Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a. | |
Variables | |
static const bool | KDL::mhi =true |