Blender V2.61 - r43446

inertia.hpp

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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDLINERTIA_HPP
00023 #define KDLINERTIA_HPP
00024 
00025 #include <Eigen/Core>
00026 #include "frames.hpp"
00027 
00028 namespace KDL {
00029 
00030 using namespace Eigen;
00031 
00037 class Inertia{
00038 public:
00039 
00044     Inertia(double m=0,double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
00045 
00046     static inline Inertia Zero(){
00047         return Inertia(0,0,0,0,0,0,0);
00048     };
00049 
00050     friend class Rotation;
00051     friend class Frame;
00052 
00056    // Wrench operator* (const AccelerationTwist& acc);
00057 
00058 
00059     ~Inertia();
00060 private:
00061     Matrix<double,6,6,RowMajor> data;
00062 
00063 };
00064 
00065 
00066 
00067 
00068 }
00069 
00070 #endif