KDL 1.5.1
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Namespaces | Functions | Variables
rigidbodyinertia.cpp File Reference
#include "rigidbodyinertia.hpp"
#include <Eigen/Core>
Include dependency graph for rigidbodyinertia.cpp:

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