DART 6.12.2
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Classes | Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
dart::utils::MjcfParser::detail::Inertial Class Referencefinal

#include <Inertial.hpp>

Classes

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.
 
Eigen::Isometry3d mRelativeTransform {Eigen::Isometry3d::Identity()}
 
Eigen::Isometry3d mWorldTransform {Eigen::Isometry3d::Identity()}
 
double mMass
 Mass of the body.
 
Eigen::Vector3d mDiagonalInertia
 
Eigen::Vector3d mOffDiagonalInertia
 

Friends

class Body
 

Constructor & Destructor Documentation

◆ Inertial()

dart::utils::MjcfParser::detail::Inertial::Inertial ( )
default

Member Function Documentation

◆ compile()

Errors dart::utils::MjcfParser::detail::Inertial::compile ( const Compiler &  compiler)
private

◆ getDiagInertia()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Inertial::getDiagInertia ( ) const

◆ getMass()

double dart::utils::MjcfParser::detail::Inertial::getMass ( ) const

◆ getOffDiagInertia()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Inertial::getOffDiagInertia ( ) const

◆ getRelativeTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Inertial::getRelativeTransform ( ) const

◆ getWorldTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Inertial::getWorldTransform ( ) const

◆ read()

Errors dart::utils::MjcfParser::detail::Inertial::read ( tinyxml2::XMLElement *  element)

◆ setDiagInertia()

void dart::utils::MjcfParser::detail::Inertial::setDiagInertia ( const Eigen::Vector3d &  inertia)

◆ setMass()

void dart::utils::MjcfParser::detail::Inertial::setMass ( double  mass)

◆ setOffDiagInertia()

void dart::utils::MjcfParser::detail::Inertial::setOffDiagInertia ( const Eigen::Vector3d &  inertia)

◆ setRelativeTransform()

void dart::utils::MjcfParser::detail::Inertial::setRelativeTransform ( const Eigen::Isometry3d &  tf)

◆ setWorldTransform()

void dart::utils::MjcfParser::detail::Inertial::setWorldTransform ( const Eigen::Isometry3d &  tf)

Friends And Related Symbol Documentation

◆ Body

friend class Body
friend

Member Data Documentation

◆ mData

Data dart::utils::MjcfParser::detail::Inertial::mData
private

◆ mDiagonalInertia

Eigen::Vector3d dart::utils::MjcfParser::detail::Inertial::mDiagonalInertia
private

◆ mMass

double dart::utils::MjcfParser::detail::Inertial::mMass
private

Mass of the body.

◆ mOffDiagonalInertia

Eigen::Vector3d dart::utils::MjcfParser::detail::Inertial::mOffDiagonalInertia
private

◆ mPos

Eigen::Vector3d dart::utils::MjcfParser::detail::Inertial::mPos
private

Position of the inertial frame.

◆ mRelativeTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Inertial::mRelativeTransform {Eigen::Isometry3d::Identity()}
private

◆ mWorldTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Inertial::mWorldTransform {Eigen::Isometry3d::Identity()}
private