us.ihmc.utilities.screwTheory
Class RigidBodyInertia
java.lang.Object
us.ihmc.utilities.screwTheory.GeneralizedRigidBodyInertia
us.ihmc.utilities.screwTheory.RigidBodyInertia
public class RigidBodyInertia
- extends GeneralizedRigidBodyInertia
Constructor Summary |
RigidBodyInertia(ReferenceFrame frame,
double Ixx,
double Iyy,
double Izz,
double mass)
|
RigidBodyInertia(ReferenceFrame frame,
javax.vecmath.Matrix3d massMomentOfInertia,
double mass)
Construct using the reference frame in which the RigidBodyInertia 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 RigidBodyInertia is expressed coincides with the center of mass. |
RigidBodyInertia(ReferenceFrame frame,
javax.vecmath.Matrix3d massMomentOfInertia,
double mass,
javax.vecmath.Vector3d crossPart)
|
RigidBodyInertia(RigidBodyInertia other)
Copy constructor |
Methods inherited from class us.ihmc.utilities.screwTheory.GeneralizedRigidBodyInertia |
changeFrame, getCenterOfMassOffset, getExpressedInFrame, getMass, getMassMomentOfInertiaPartCopy, isCrossPartZero, packMatrix, set, setMass, setMomentOfInertia, toString |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
RigidBodyInertia
public RigidBodyInertia(ReferenceFrame frame,
javax.vecmath.Matrix3d massMomentOfInertia,
double mass)
- Construct using the reference frame in which the RigidBodyInertia 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 RigidBodyInertia is expressed coincides with the center of mass.
- Parameters:
frame
- the reference frame in which the RigidBodyInertia 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 RigidBodyInertia corresponds
RigidBodyInertia
public RigidBodyInertia(ReferenceFrame frame,
double Ixx,
double Iyy,
double Izz,
double mass)
RigidBodyInertia
public RigidBodyInertia(ReferenceFrame frame,
javax.vecmath.Matrix3d massMomentOfInertia,
double mass,
javax.vecmath.Vector3d crossPart)
RigidBodyInertia
public RigidBodyInertia(RigidBodyInertia other)
- Copy constructor
- Parameters:
other
- the RigidBodyInertia to be copied
getBodyFrame
public ReferenceFrame getBodyFrame()
- Returns:
- the frame of which this inertia describes the inertia
computeDynamicWrenchInBodyCoordinates
public void computeDynamicWrenchInBodyCoordinates(Wrench dynamicWrench,
SpatialAccelerationVector acceleration,
Twist twist)
computeKineticCoEnergy
public double computeKineticCoEnergy(Twist twist)
- Computes the kinetic co-energy of the rigid body to which this inertia belongs
twistTranspose * Inertia * twist
See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 40, eq. (2.56)
http://sites.google.com/site/vincentduindam/publications
- Parameters:
twist
-
- Returns:
set
public void set(RigidBodyInertia other)