us.ihmc.utilities.screwTheory
Class RigidBodyInertia

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.GeneralizedRigidBodyInertia
      extended by 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
 
Method Summary
 void computeDynamicWrenchInBodyCoordinates(Wrench dynamicWrench, SpatialAccelerationVector acceleration, Twist twist)
           
 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.
 ReferenceFrame getBodyFrame()
           
 void set(RigidBodyInertia other)
           
 
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
 

Constructor Detail

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 this
massMomentOfInertia - the mass moment of inertia matrix in ReferenceFrame frame
mass - 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
Method Detail

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)