robMass.h

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/*

  Author(s): Simon Leonard
  Created on: Nov 11 2009

  (C) Copyright 2008 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _robMass_h
#define _robMass_h

#include <iostream>

#include <cisstVector/vctMatrixRotation3.h>
#include <cisstVector/vctFrame4x4.h>
#if CISST_HAS_JSON
#include <json/json.h>
#endif
#include <cisstRobot/robExport.h>

class CISST_EXPORT robMass{
 public:

  enum Errno{ ESUCCESS, EFAILURE };

 private:

  double mass;


  vctFixedSizeVector<double,3> com;


  vctFixedSizeMatrix<double,3,3> D;


  vctMatrixRotation3<double> V;

public:


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



  robMass();

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


  double Mass() const;


  vctFixedSizeVector<double,3> CenterOfMass() const;


  vctFixedSizeMatrix<double,3,3> MomentOfInertia() const;

  vctFixedSizeMatrix<double,3,3> MomentOfInertiaAtCOM() const;

  robMass::Errno ReadMass( std::istream& is );
#if CISST_HAS_JSON
  robMass::Errno ReadMass( const Json::Value &config );
#endif

  robMass::Errno WriteMass( std::ostream& os ) const;

};

#endif