141 lines
4.6 KiB
C++
141 lines
4.6 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_RIGIDBODYINERTIA_HPP
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#define KDL_RIGIDBODYINERTIA_HPP
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#include "frames.hpp"
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#include "rotationalinertia.hpp"
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namespace KDL {
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/**
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* \brief 6D Inertia of a rigid 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 RigidBodyInertia{
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public:
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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 RigidBodyInertia(double m=0, 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 RigidBodyInertia Zero(){
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return RigidBodyInertia(0.0,Vector::Zero(),RotationalInertia::Zero());
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};
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~RigidBodyInertia(){};
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friend RigidBodyInertia operator*(double a,const RigidBodyInertia& I);
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friend RigidBodyInertia operator+(const RigidBodyInertia& Ia,const RigidBodyInertia& Ib);
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friend Wrench operator*(const RigidBodyInertia& I,const Twist& t);
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friend RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& I);
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friend RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& 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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RigidBodyInertia RefPoint(const Vector& p);
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/**
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* Get the mass of the rigid body
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*/
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double getMass() const{
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return m;
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};
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/**
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* Get the spatial momentum of the rigid body
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*/
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const Vector& getSpatialMomentum() const
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{
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return h;
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}
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/**
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* Get the center of gravity of the rigid body
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*/
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Vector getCOG() const{
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if(m==0) return Vector::Zero();
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else return h/m;
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};
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/**
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* Get the rotational inertia expressed in the reference frame (not the cog)
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*/
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RotationalInertia getRotationalInertia() const{
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return I;
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};
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private:
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RigidBodyInertia(double m,const Vector& h,const RotationalInertia& I,bool mhi);
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double m;
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Vector h;
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RotationalInertia I;
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friend class ArticulatedBodyInertia;
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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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RigidBodyInertia operator*(double a,const RigidBodyInertia& 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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RigidBodyInertia operator+(const RigidBodyInertia& 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 RigidBodyInertia& 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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RigidBodyInertia operator*(const Frame& T,const RigidBodyInertia& 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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RigidBodyInertia operator*(const Rotation& R,const RigidBodyInertia& I);
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}//namespace
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#endif
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