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kdl_install/include/kdl/rotationalinertia.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_ROTATIONALINERTIA_HPP
+#define KDL_ROTATIONALINERTIA_HPP
+
+#include "frames.hpp"
+
+//------- class for only the Rotational Inertia --------
+
+namespace KDL
+{
+    //Forward declaration
+    class RigidBodyInertia;
+
+	class RotationalInertia{
+    public:
+              
+        explicit RotationalInertia(double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
+        
+        static inline RotationalInertia Zero(){
+            return RotationalInertia(0,0,0,0,0,0);
+        };
+
+        friend RotationalInertia operator*(double a, const RotationalInertia& I);
+        friend RotationalInertia operator+(const RotationalInertia& Ia, const RotationalInertia& Ib);
+
+        /**
+         * This function calculates the angular momentum resulting from a rotational velocity omega
+         */
+        KDL::Vector operator*(const KDL::Vector& omega) const;
+        
+        ~RotationalInertia();
+
+        friend class RigidBodyInertia;
+        ///Scalar product
+        friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
+        ///addition
+        friend RigidBodyInertia operator+(const RigidBodyInertia& Ia,const RigidBodyInertia& Ib);
+        ///calculate spatial momentum
+        friend 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
+        friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
+        ///base frame orientation change Ia = R_a_b*Ib with R_a_b the rotation for frame from a to b
+        friend RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
+
+        double data[9];
+	};
+
+    RotationalInertia operator*(double a, const RotationalInertia& I);
+    RotationalInertia operator+(const RotationalInertia& Ia, const RotationalInertia& Ib);
+
+}
+
+#endif
+