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