DART
6.10.1
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#include <Inertial.hpp>
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struct | Data |
Public Member Functions | |
Inertial ()=default | |
Errors | read (tinyxml2::XMLElement *element) |
void | setMass (double mass) |
double | getMass () const |
void | setDiagInertia (const Eigen::Vector3d &inertia) |
const Eigen::Vector3d & | getDiagInertia () const |
void | setOffDiagInertia (const Eigen::Vector3d &inertia) |
const Eigen::Vector3d & | getOffDiagInertia () const |
void | setRelativeTransform (const Eigen::Isometry3d &tf) |
const Eigen::Isometry3d & | getRelativeTransform () const |
void | setWorldTransform (const Eigen::Isometry3d &tf) |
const Eigen::Isometry3d & | getWorldTransform () const |
Private Member Functions | |
Errors | compile (const Compiler &compiler) |
Private Attributes | |
Data | mData |
Eigen::Vector3d | mPos |
Position of the inertial frame. More... | |
Eigen::Isometry3d | mRelativeTransform {Eigen::Isometry3d::Identity()} |
Eigen::Isometry3d | mWorldTransform {Eigen::Isometry3d::Identity()} |
double | mMass |
Mass of the body. More... | |
Eigen::Vector3d | mDiagonalInertia |
Eigen::Vector3d | mOffDiagonalInertia |
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class | Body |
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const Eigen::Vector3d & dart::utils::MjcfParser::detail::Inertial::getDiagInertia | ( | ) | const |
double dart::utils::MjcfParser::detail::Inertial::getMass | ( | ) | const |
const Eigen::Vector3d & dart::utils::MjcfParser::detail::Inertial::getOffDiagInertia | ( | ) | const |
const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Inertial::getRelativeTransform | ( | ) | const |
const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Inertial::getWorldTransform | ( | ) | const |
Errors dart::utils::MjcfParser::detail::Inertial::read | ( | tinyxml2::XMLElement * | element | ) |
void dart::utils::MjcfParser::detail::Inertial::setDiagInertia | ( | const Eigen::Vector3d & | inertia | ) |
void dart::utils::MjcfParser::detail::Inertial::setMass | ( | double | mass | ) |
void dart::utils::MjcfParser::detail::Inertial::setOffDiagInertia | ( | const Eigen::Vector3d & | inertia | ) |
void dart::utils::MjcfParser::detail::Inertial::setRelativeTransform | ( | const Eigen::Isometry3d & | tf | ) |
void dart::utils::MjcfParser::detail::Inertial::setWorldTransform | ( | const Eigen::Isometry3d & | tf | ) |
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Mass of the body.
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Position of the inertial frame.
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