us.ihmc.utilities.math
Class RotationalInertiaCalculator

java.lang.Object
  extended by us.ihmc.utilities.math.RotationalInertiaCalculator

public class RotationalInertiaCalculator
extends java.lang.Object


Constructor Summary
RotationalInertiaCalculator()
           
 
Method Summary
static void checkMassAndDimensions(double mass, double dimensionX, double dimensionY, double dimensionZ)
           
static double[] getIxxIyyIzzOfSolidCylinder(double mass, double radius, double height, Axis axisOfCylinder)
           
static javax.vecmath.Matrix3d getRotationalInertiaFromDiagonal(double ixx, double iyy, double izz)
           
static javax.vecmath.Matrix3d getRotationalInertiaFromRadiiOfGyration(double mass, double radiusOfGyrationX, double radiusOfGyrationY, double radiusOfGyrationZ)
           
static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfSolidBox(double xLength, double yWidth, double zHeight, double mass)
           
static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfSolidCylinder(double mass, double radius, double height, Axis axisOfCylinder)
           
static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfSolidEllipsoid(double mass, double xRadius, double yRadius, double zRadius)
           
static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfTorus(double mass, double radiusOfDonut, double radiusOfTube)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

RotationalInertiaCalculator

public RotationalInertiaCalculator()
Method Detail

getRotationalInertiaFromRadiiOfGyration

public static javax.vecmath.Matrix3d getRotationalInertiaFromRadiiOfGyration(double mass,
                                                                             double radiusOfGyrationX,
                                                                             double radiusOfGyrationY,
                                                                             double radiusOfGyrationZ)

checkMassAndDimensions

public static void checkMassAndDimensions(double mass,
                                          double dimensionX,
                                          double dimensionY,
                                          double dimensionZ)

getRotationalInertiaMatrixOfTorus

public static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfTorus(double mass,
                                                                       double radiusOfDonut,
                                                                       double radiusOfTube)

getRotationalInertiaMatrixOfSolidCylinder

public static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfSolidCylinder(double mass,
                                                                               double radius,
                                                                               double height,
                                                                               Axis axisOfCylinder)

getRotationalInertiaMatrixOfSolidEllipsoid

public static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfSolidEllipsoid(double mass,
                                                                                double xRadius,
                                                                                double yRadius,
                                                                                double zRadius)

getRotationalInertiaMatrixOfSolidBox

public static javax.vecmath.Matrix3d getRotationalInertiaMatrixOfSolidBox(double xLength,
                                                                          double yWidth,
                                                                          double zHeight,
                                                                          double mass)

getIxxIyyIzzOfSolidCylinder

public static double[] getIxxIyyIzzOfSolidCylinder(double mass,
                                                   double radius,
                                                   double height,
                                                   Axis axisOfCylinder)

getRotationalInertiaFromDiagonal

public static javax.vecmath.Matrix3d getRotationalInertiaFromDiagonal(double ixx,
                                                                      double iyy,
                                                                      double izz)