126 lines
5.1 KiB
C++
126 lines
5.1 KiB
C++
// Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_ARTICULATEDBODYINERTIA_HPP
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#define KDL_ARTICULATEDBODYINERTIA_HPP
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#include "frames.hpp"
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#include "rotationalinertia.hpp"
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#include "rigidbodyinertia.hpp"
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#include <Eigen/Core>
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namespace KDL {
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/**
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* \brief 6D Inertia of a articulated body
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*
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* The inertia is defined in a certain reference point and a certain reference base.
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* The reference point does not have to coincide with the origin of the reference frame.
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*/
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class ArticulatedBodyInertia{
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public:
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/**
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* This constructor creates a zero articulated body inertia matrix,
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*/
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ArticulatedBodyInertia(){
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*this=ArticulatedBodyInertia::Zero();
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}
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/**
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* This constructor creates a cartesian space articulated body inertia matrix,
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* the arguments is a rigid body inertia.
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*/
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ArticulatedBodyInertia(const RigidBodyInertia& rbi);
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/**
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* This constructor creates a cartesian space inertia matrix,
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* the arguments are the mass, the vector from the reference point to cog and the rotational inertia in the cog.
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*/
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explicit ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
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/**
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* Creates an inertia with zero mass, and zero RotationalInertia
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*/
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static inline ArticulatedBodyInertia Zero(){
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return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
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};
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~ArticulatedBodyInertia(){};
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friend ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I);
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friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
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friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
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friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
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friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
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friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
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friend ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
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friend ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);
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/**
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* Reference point change with v the vector from the old to
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* the new point expressed in the current reference frame
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*/
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ArticulatedBodyInertia RefPoint(const Vector& p);
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ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);
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Eigen::Matrix3d M;
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Eigen::Matrix3d H;
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Eigen::Matrix3d I;
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};
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/**
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* Scalar product: I_new = double * I_old
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*/
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ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I);
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/**
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* addition I: I_new = I_old1 + I_old2, make sure that I_old1
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* and I_old2 are expressed in the same reference frame/point,
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* otherwise the result is worth nothing
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*/
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ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
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ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
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ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
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ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
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/**
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* calculate spatial momentum: h = I*v
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* make sure that the twist v and the inertia are expressed in the same reference frame/point
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*/
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Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
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/**
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* Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
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*/
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ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
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/**
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* Reference frame orientation change Ia = R_a_b*Ib with R_a_b
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* the rotation of b expressed in a
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*/
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ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);
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}
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#endif
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