robMass Class Reference

#include <robMass.h>

Public Types
enum	Errno { ESUCCESS, EFAILURE }

Public Member Functions
vctFixedSizeMatrix< double, 3, 3 >	ParallelAxis (double m, const vctFixedSizeVector< double, 3 > &t, const vctFixedSizeMatrix< double, 3, 3 > &I) const
	Parallel Axis Theorem. More...
	robMass ()
	Default constructor. More...
	robMass (double m, const vctFixedSizeVector< double, 3 > &com, const vctFixedSizeMatrix< double, 3, 3 > &D, const vctFixedSizeMatrix< double, 3, 3 > &V)
double	Mass () const
	Return the mass. More...
vctFixedSizeVector< double, 3 >	CenterOfMass () const
	Return the center of mass. More...
vctFixedSizeMatrix< double, 3, 3 >	MomentOfInertia () const
	Return the moment of inertia tensor in the body frame. More...
vctFixedSizeMatrix< double, 3, 3 >	MomentOfInertiaAtCOM () const
robMass::Errno	ReadMass (std::istream &is)
	Read the mass from a input stream. More...
robMass::Errno	WriteMass (std::ostream &os) const
	Write the mass from a output stream. More...

Member Enumeration Documentation

enum robMass::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

robMass::robMass

(

)

Default constructor.

Set the mass, center of mass and inertia to zero

robMass::robMass	(	double	m,
		const vctFixedSizeVector< double, 3 > &	com,
		const vctFixedSizeMatrix< double, 3, 3 > &	D,
		const vctFixedSizeMatrix< double, 3, 3 > &	V
	)

Member Function Documentation

vctFixedSizeVector<double,3> robMass::CenterOfMass

(

)

const

Return the center of mass.

Return the center of mass. The center of mass is expressed in the coordinate frame of the body.

Returns

A 3D vector representing the center of mass

double robMass::Mass

(

)

const

Return the mass.

Returns

The mass of the body

vctFixedSizeMatrix<double,3,3> robMass::MomentOfInertia

(

)

const

Return the moment of inertia tensor in the body frame.

Return the moment of inertia tensor. The tensor is with respect to the coordinate frame of the body which does not necessarily coincide with the center of mass of the body and the principal axes.

Returns

A 3x3 moment of inertia tensor

vctFixedSizeMatrix<double,3,3> robMass::MomentOfInertiaAtCOM

(

)

const

vctFixedSizeMatrix<double,3,3> robMass::ParallelAxis	(	double	m,
		const vctFixedSizeVector< double, 3 > &	t,
		const vctFixedSizeMatrix< double, 3, 3 > &	I
	)		const

Parallel Axis Theorem.

Finds the moment of inertia with respect to a parallel axis

robMass::Errno robMass::ReadMass

(

std::istream &

is

)

Read the mass from a input stream.

robMass::Errno robMass::WriteMass

(

std::ostream &

os

)

const

Write the mass from a output stream.

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The documentation for this class was generated from the following file:

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstRobot/robMass.h