/usr/include/kdl/articulatedbodyinertia.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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// 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_ARTICULATEDBODYINERTIA_HPP
#define KDL_ARTICULATEDBODYINERTIA_HPP
#include "frames.hpp"
#include "rotationalinertia.hpp"
#include "rigidbodyinertia.hpp"
#include <Eigen/Core>
namespace KDL {
/**
* \brief 6D Inertia of a articulated 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 ArticulatedBodyInertia{
public:
/**
* This constructor creates a zero articulated body inertia matrix,
*/
ArticulatedBodyInertia(){
*this=ArticulatedBodyInertia::Zero();
}
/**
* This constructor creates a cartesian space articulated body inertia matrix,
* the arguments is a rigid body inertia.
*/
ArticulatedBodyInertia(const RigidBodyInertia& rbi);
/**
* 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 ArticulatedBodyInertia(double m, const Vector& oc=Vector::Zero(), const RotationalInertia& Ic=RotationalInertia::Zero());
/**
* Creates an inertia with zero mass, and zero RotationalInertia
*/
static inline ArticulatedBodyInertia Zero(){
return ArticulatedBodyInertia(Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero(),Eigen::Matrix3d::Zero());
};
~ArticulatedBodyInertia(){};
/**
* Scalar product: I_new = double * I_old
*/
friend ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& 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
*/
friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia,const RigidBodyInertia& Ib);
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia,const ArticulatedBodyInertia& Ib);
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& 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
*/
friend Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t);
/**
* Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
*/
friend ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I);
/**
* Reference frame orientation change Ia = R_a_b*Ib with R_a_b
* the rotation of b expressed in a
*/
friend ArticulatedBodyInertia operator*(const Rotation& R,const ArticulatedBodyInertia& I);
/**
* Reference point change with v the vector from the old to
* the new point expressed in the current reference frame
*/
ArticulatedBodyInertia RefPoint(const Vector& p);
ArticulatedBodyInertia(const Eigen::Matrix3d& M,const Eigen::Matrix3d& H,const Eigen::Matrix3d& I);
Eigen::Matrix3d M;
Eigen::Matrix3d H;
Eigen::Matrix3d I;
};
}//namespace
#endif
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