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java.lang.Objectus.ihmc.utilities.screwTheory.GeneralizedRigidBodyInertia
public abstract class GeneralizedRigidBodyInertia
Constructor Summary | |
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GeneralizedRigidBodyInertia()
Default constructor; null reference frame, everything set to zero |
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GeneralizedRigidBodyInertia(GeneralizedRigidBodyInertia other)
Copy constructor |
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GeneralizedRigidBodyInertia(ReferenceFrame frame,
double Ixx,
double Iyy,
double Izz,
double mass)
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GeneralizedRigidBodyInertia(ReferenceFrame frame,
javax.vecmath.Matrix3d massMomentOfInertia,
double mass)
Construct using the reference frame in which the GeneralizedRigidBodyInertia is expressed, the mass moment of inertia matrix in that frame and the mass For the case that the origin of the frame in which the GeneralizedRigidBodyInertia is expressed coincides with the center of mass. |
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GeneralizedRigidBodyInertia(ReferenceFrame frame,
javax.vecmath.Matrix3d massMomentOfInertia,
double mass,
javax.vecmath.Vector3d crossPart)
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Method Summary | |
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void |
changeFrame(ReferenceFrame newFrame)
Changes the frame in which this GeneralizedRigidBodyInertia is expressed. |
FramePoint |
getCenterOfMassOffset()
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ReferenceFrame |
getExpressedInFrame()
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double |
getMass()
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javax.vecmath.Matrix3d |
getMassMomentOfInertiaPartCopy()
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boolean |
isCrossPartZero()
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void |
packMatrix(org.ejml.data.DenseMatrix64F matrixToPack)
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void |
set(GeneralizedRigidBodyInertia other)
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void |
setMass(double mass)
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void |
setMomentOfInertia(double Ixx,
double Iyy,
double Izz)
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java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public GeneralizedRigidBodyInertia()
public GeneralizedRigidBodyInertia(ReferenceFrame frame, javax.vecmath.Matrix3d massMomentOfInertia, double mass)
frame
- the reference frame in which the GeneralizedRigidBodyInertia is expressed, and also the frame of which thismassMomentOfInertia
- the mass moment of inertia matrix in ReferenceFrame framemass
- the mass of the rigid body to which this GeneralizedRigidBodyInertia correspondspublic GeneralizedRigidBodyInertia(ReferenceFrame frame, double Ixx, double Iyy, double Izz, double mass)
public GeneralizedRigidBodyInertia(ReferenceFrame frame, javax.vecmath.Matrix3d massMomentOfInertia, double mass, javax.vecmath.Vector3d crossPart)
public GeneralizedRigidBodyInertia(GeneralizedRigidBodyInertia other)
other
- the GeneralizedRigidBodyInertia to be copiedMethod Detail |
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public ReferenceFrame getExpressedInFrame()
public boolean isCrossPartZero()
public javax.vecmath.Matrix3d getMassMomentOfInertiaPartCopy()
public double getMass()
public FramePoint getCenterOfMassOffset()
public void setMomentOfInertia(double Ixx, double Iyy, double Izz)
public void setMass(double mass)
public void set(GeneralizedRigidBodyInertia other)
public void packMatrix(org.ejml.data.DenseMatrix64F matrixToPack)
public void changeFrame(ReferenceFrame newFrame)
newFrame
- the frame in which this inertia should be expressedpublic java.lang.String toString()
toString
in class java.lang.Object
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