Compute Mass parameters. More...

#include <TaoDeMassProp.h>

Collaboration diagram for deMassProp:

[legend]

Public Member Functions

deMassProp ()

constructor More...

deMassProp (deMassProp const &orig)

void zero ()

set members to zero More...

void set (const deFloat *mass, const deVector3 *center, const deMatrix3 *inertia)

set members with given values More...

void get (deFloat *mass, deVector3 *center, deMatrix3 *inertia) const

get member values More...

deInt isDensity (deFloat m)

indicates if m is a density. More...

fetching methods

return current mass parameters.

deFloat * mass ()

deFloat const * mass () const

deMatrix3 * inertia ()

deMatrix3 const * inertia () const

deVector3 * center ()

deVector3 const * center () const

updating methods

set general mass/inertia parameters for a body defined in the current reference frame.

Remarks: Calls are accumulative.

void mass (const deFloat m, const deFrame *f=NULL)

void inertia (const deMatrix3 *inertia, const deFrame *f=NULL)

void inertia (const deVector3 *diag, const deFrame *f=NULL)

void inertia (const deFloat Ixx, const deFloat Iyy, const deFloat Izz, const deFrame *f=NULL)

mass/inertia definitions of homogeneous bodies

specify mass parameters for various homogeneous bodies. With the center of mass located at the current reference frame.

Remarks: Calls are accumulative.

Parameters

f	new frame of reference. NULL indicates the identity matrix..

void cylinder (const deFloat mp, const deFloat h, const deFloat r, const deFrame *f=NULL)

void cone (const deFloat mp, const deFloat h, const deFloat r, const deFrame *f=NULL)

void pyramid (const deFloat mp, const deFloat a, const deFloat b, const deFloat h, const deFrame *f=NULL)

void block (const deFloat mp, const deFloat a, const deFloat b, const deFloat c, const deFrame *f=NULL)

void sphere (const deFloat mp, const deFloat r, const deFrame *f=NULL)

void hemisphere (const deFloat mp, const deFloat r, const deFrame *f=NULL)

void ellipsoid (const deFloat mp, const deFloat a, const deFloat b, const deFloat c, const deFrame *f=NULL)

void rod (const deFloat mp, const deFloat l, const deFrame *f=NULL)

void disk (const deFloat mp, const deFloat r, const deFrame *f=NULL)

void plate (const deFloat mp, const deFloat a, const deFloat b, const deFrame *f=NULL)

void cylinderShell (const deFloat mp, const deFloat h, const deFloat r, const deFrame *f=NULL)

void coneShell (const deFloat mp, const deFloat h, const deFloat r, const deFrame *f=NULL)

void sphereShell (const deFloat mp, const deFloat r, const deFrame *f=NULL)

void hemisphereShell (const deFloat mp, const deFloat r, const deFrame *f=NULL)

resetting methods

reset mass properties

void scale (const deFloat m)

Private Attributes
deFloat	_m

deVector3	_center

deMatrix3	_inertia

Detailed Description

Compute Mass parameters.

Constructor & Destructor Documentation

deMassProp::deMassProp ( )

inline

constructor

Member Function Documentation

void deMassProp::block	(	const deFloat	mp,
		const deFloat	a,
		const deFloat	b,
		const deFloat	c,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous block with center of mass at the current frame.

Parameters

mp	mass (density if dedensity(deFloat)) of block.
a	width of base of block along the x-axis.
b	length of base of block along the y-axis.
c	height of base of block along the z-axis.
f	new frame of reference. NULL (default) indicates the identity matrix.

deVector3* deMassProp::center ( )

inline

Returns: center of mass of object as seen from objects local frame.

void deMassProp::cone	(	const deFloat	mp,
		const deFloat	h,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous cone with center of mass at the current frame. The center of mass of a cone is located h/4 from base in z

Parameters

mp	mass (density if dedensity(deFloat)) of cone.
h	total height of cone in z-axis.
r	radius of the base of the cone.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::coneShell	(	const deFloat	mp,
		const deFloat	h,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous infinitely thin cone with no base. The center of mass located at the current frame is (1/3)*h from base in z.

Parameters

mp	mass (surface density if dedensity(deFloat)).
h	total height of cone shell h in z-axis.
r	radius of the base of the cone shell.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::cylinder	(	const deFloat	mp,
		const deFloat	h,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous cylinder with center of mass at the current frame.

Parameters

mp	mass (density if dedensity(deFloat)) of cylinder.
h	total height of cylinder in z-axis.
r	radius of the cylinder.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::cylinderShell	(	const deFloat	mp,
		const deFloat	h,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous infinitely thin cylinder with no caps, with center of mass at the current frame.

Parameters

mp	mass (surface density if dedensity(deFloat)).
h	total height of cylinder shell in z-axis.
r	radius of the cylinder shell.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::disk	(	const deFloat	mp,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous two dimensional flat disk with center of mass at the current frame. The disk has zero height in the z-axis.

Parameters

mp	mass (surface density if dedensity(deFloat)).
r	radius of disk.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::ellipsoid	(	const deFloat	mp,
		const deFloat	a,
		const deFloat	b,
		const deFloat	c,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous ellipsoid with center of mass at the current frame.

Parameters

mp	mass (density if dedensity(deFloat)) of ellipsoid.
a	length of major axis along the x-axis, one half total width
b	length of major axis along the y-axis, one half total length
c	length of major axis along the z-axis, one half total height
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::get	(	deFloat *	mass,
		deVector3 *	center,
		deMatrix3 *	inertia
	)		const

inline

get member values

void deMassProp::hemisphere	(	const deFloat	mp,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous half sphere (hemisphere) with center of mass at the current frame. The center of mass of a hemisphere is located (3/8)*r from base in z

Parameters

mp	mass (density if dedensity(deFloat)) of hemisphere.
r	radius of hemisphere.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::hemisphereShell	(	const deFloat	mp,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous infinitely thin half sphere (hemisphere) with no base. The center of mass located at the current frame is r/2 from the base of the hemisphere in the z-axis.

Parameters

mp	mass (surface density if dedensity(deFloat)).
r	radius of the hemisphere.
f	new frame of reference. NULL (default) indicates the identity matrix.

deMatrix3* deMassProp::inertia ( )

inline

Returns: inertia of object as seen from objects local frame.

void deMassProp::inertia	(	const deMatrix3 *	inertia,
		const deFrame *	f = `NULL`
	)

add an inertia tensor inertia specified by a 3x3 matrix at the current frame of reference.

void deMassProp::inertia	(	const deVector3 *	diag,
		const deFrame *	f = `NULL`
	)

add an inertia tensor specified by its diagonal diag = (Ixx, Iyy, Izz).

void deMassProp::inertia	(	const deFloat	Ixx,
		const deFloat	Iyy,
		const deFloat	Izz,
		const deFrame *	f = `NULL`
	)

add an inertia tensor specified by its diagonal (Ixx, Iyy, Izz).

deInt deMassProp::isDensity ( deFloat m )

inline

indicates if m is a density.

Remarks: negative m indicates m is a density.

Return values

0	if m represents a mass
1	if m represents a density

deFloat* deMassProp::mass ( )

inline

Returns: mass of object.

void deMassProp::mass	(	const deFloat	m,
		const deFrame *	f = `NULL`
	)

add a point mass of mass m at a point at the origin of the reference frame. Set frame of reference to be used when specifying a objects mass/inertial properties.

Parameters

m	mass to be added
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::plate	(	const deFloat	mp,
		const deFloat	a,
		const deFloat	b,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous two dimensional flat square plate with center of mass at the current frame. The plate has zero height in the z-axis.

Parameters

mp	mass (surface density if dedensity(deFloat)).
a	total width of the in the x-axis .
b	total width of the in the y-axis .
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::pyramid	(	const deFloat	mp,
		const deFloat	a,
		const deFloat	b,
		const deFloat	h,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous four sided pyramid with center of mass at the current frame. The center of mass of a pyramid is located h/4 from base in z

Parameters

mp	mass (density if dedensity(deFloat)) of pyramid.
a	width of base of pyramid along the x-axis.
b	length of base of pyramid along the y-axis.
h	total height of pyramid h in z-axis.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::rod	(	const deFloat	mp,
		const deFloat	l,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous one dimensional rod having total length l with center of mass at the current frame. The center of mass of a rod is located half way along its length.

Parameters

mp	mass (linear density if dedensity(deFloat)).
l	total length of the rod along the z-axis.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::scale ( const deFloat m )

homogenously scale the mass properities of a given object until total mass equals m.

void deMassProp::set	(	const deFloat *	mass,
		const deVector3 *	center,
		const deMatrix3 *	inertia
	)

inline

set members with given values

void deMassProp::sphere	(	const deFloat	mp,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous sphere with center of mass at the current frame.

Parameters

mp	mass (density if dedensity(deFloat)) of sphere.
r	radius of sphere.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::sphereShell	(	const deFloat	mp,
		const deFloat	r,
		const deFrame *	f = `NULL`
	)

Specify the mass parameters to a homogeneous infinitely thin sphere, with center of mass at the current frame.

Parameters

mp	mass (surface density if dedensity(deFloat)).
r	radius of the sphere.
f	new frame of reference. NULL (default) indicates the identity matrix.

void deMassProp::zero ( )

inline

set members to zero

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

/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/utility/TaoDeMassProp.h
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/utility/TaoDeMassProp.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation