us.ihmc.utilities
Class InertiaTools

java.lang.Object
  extended by us.ihmc.utilities.InertiaTools

public class InertiaTools
extends java.lang.Object


Constructor Summary
InertiaTools()
           
 
Method Summary
static javax.vecmath.Vector3d getInertiaEllipsoidRadii(javax.vecmath.Vector3d principalMomentsOfInertia, double mass)
          Returns the radii of an ellipsoid given the inertia parameters, assuming a uniform mass distribution.
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

InertiaTools

public InertiaTools()
Method Detail

getInertiaEllipsoidRadii

public static javax.vecmath.Vector3d getInertiaEllipsoidRadii(javax.vecmath.Vector3d principalMomentsOfInertia,
                                                              double mass)
Returns the radii of an ellipsoid given the inertia parameters, assuming a uniform mass distribution.

Parameters:
principalMomentsOfInertia - principal moments of inertia {Ixx, Iyy, Izz}
mass - mass of the link
Returns:
the three radii of the inertia ellipsoid