inertia_util.hpp File Reference

#include <jspace/Model.hpp>
#include <stdexcept>
#include <iosfwd>

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Functions
void	jspace::inertia_parallel_axis_transform (double in_ixx, double in_ixy, double in_ixz, double in_iyy, double in_iyz, double in_izz, double trans_x, double trans_y, double trans_z, double mass, double &out_ixx, double &out_ixy, double &out_ixz, double &out_iyy, double &out_iyz, double &out_izz)
void	jspace::inertia_parallel_axis_transform (deMatrix3 const &in_inertia, deVector3 const &translation, double mass, deMatrix3 &out_inertia)
void	jspace::inertia_similarity_transform (double in_ixx, double in_ixy, double in_ixz, double in_iyy, double in_iyz, double in_izz, double rot_qx, double rot_qy, double rot_qz, double rot_qw, double &out_ixx, double &out_ixy, double &out_ixz, double &out_iyy, double &out_iyz, double &out_izz)
void	jspace::inertia_similarity_transform (double in_ixx, double in_ixy, double in_ixz, double in_iyy, double in_iyz, double in_izz, deQuaternion const &rotation, deMatrix3 &out_inertia)
void	jspace::inertia_similarity_transform (deMatrix3 const &in_inertia, deQuaternion const &rotation, deMatrix3 &out_inertia)
void	jspace::fuse_mass_properties (double orig_mass, deMatrix3 const &orig_inertia, deFrame const &orig_com, double adtl_mass, deMatrix3 const &adtl_inertia, deFrame const &adtl_com, deFrame const &home_of_adtl_wrt_orig, double &fused_mass, deMatrix3 &fused_inertia, deFrame &fused_com)
void	jspace::fuse_mass_properties (deMassProp &original, deMassProp &additional, deFrame const &home_of_additional_wrt_original, deMassProp &fused)
void	jspace::mass_inertia_explicit_form (Model const &model, Eigen::MatrixXd &mass_inertia, std::ostream *dbgos) throw (std::runtime_error)

Detailed Description

Author

Roland Philippsen