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kdl_install/include/kdl/rigidbodyinertia.hpp

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+// Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_RIGIDBODYINERTIA_HPP
+#define KDL_RIGIDBODYINERTIA_HPP
+
+#include "frames.hpp"
+
+#include "rotationalinertia.hpp"
+
+namespace KDL {
+    
+    /**
+     *	\brief 6D Inertia of a rigid body
+     *
+     *	The 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.
+     */
+    class RigidBodyInertia{
+    public:
+        
+        /**
+         * 	This constructor creates a cartesian space inertia matrix,
+         * 	the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.
+         */
+        explicit RigidBodyInertia(double m=0, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
+        
+        /**
+         * Creates an inertia with zero mass, and zero RotationalInertia
+         */
+        static inline RigidBodyInertia Zero(){
+            return RigidBodyInertia(0.0,Vector::Zero(),RotationalInertia::Zero());
+        };
+        
+        
+        ~RigidBodyInertia(){};
+        
+        friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
+        friend RigidBodyInertia operator+(const RigidBodyInertia& Ia,const RigidBodyInertia& Ib);
+        friend Wrench operator*(const RigidBodyInertia& I,const Twist& t);
+        friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
+        friend RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
+
+        /**
+         * Reference point change with v the vector from the old to
+         * the new point expressed in the current reference frame
+         */
+        RigidBodyInertia RefPoint(const Vector& p);
+
+        /**
+         * Get the mass of the rigid body
+         */
+        double getMass() const{
+            return m;
+        };
+
+        /**
+         * Get the spatial momentum of the rigid body
+         */
+        const Vector& getSpatialMomentum() const
+        {
+            return h;
+        }
+
+        /**
+         * Get the center of gravity of the rigid body
+         */
+        Vector getCOG() const{
+            if(m==0) return Vector::Zero();
+            else return h/m;
+        };
+
+        /**
+         * Get the rotational inertia expressed in the reference frame (not the cog)
+         */
+        RotationalInertia getRotationalInertia() const{
+            return I;
+        };
+
+    private:
+        RigidBodyInertia(double m,const Vector& h,const RotationalInertia& I,bool mhi);
+        double m;
+        Vector h;
+        RotationalInertia I;
+
+        friend class ArticulatedBodyInertia;
+        
+    };
+
+    /**
+     * Scalar product: I_new = double * I_old
+     */
+    RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
+    /**
+     * 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
+     */
+    RigidBodyInertia operator+(const RigidBodyInertia& Ia,const RigidBodyInertia& Ib);
+
+    /**
+     * calculate spatial momentum: h = I*v
+     * make sure that the twist v and the inertia are expressed in the same reference frame/point
+     */
+    Wrench operator*(const RigidBodyInertia& I,const Twist& t);
+
+    /**
+     * Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
+     */
+    RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
+    /**
+     * Reference frame orientation change Ia = R_a_b*Ib with R_a_b
+     * the rotation of b expressed in a
+     */
+    RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
+
+
+
+}//namespace
+
+
+#endif