Inertia.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2018, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_DYNAMICS_INERTIA_HPP_
#define DART_DYNAMICS_INERTIA_HPP_
 
#include <array>
 
#include "dart/math/MathTypes.hpp"
 
namespace dart {
namespace dynamics {
 
class Inertia
{
public:
 
  enum Param {
 
    // Overall mass
    MASS = 0,
 
    // Center of mass components
    COM_X, COM_Y, COM_Z,
 
    // Moment of inertia components
    I_XX, I_YY, I_ZZ,
    I_XY, I_XZ, I_YZ
 
  };
 
  Inertia(double _mass=1, const Eigen::Vector3d& _com = Eigen::Vector3d::Zero(),
          const Eigen::Matrix3d& _momentOfInertia = Eigen::Matrix3d::Identity());
 
  Inertia(const Eigen::Matrix6d& _spatialInertiaTensor);
 
  Inertia(double _mass,
          double _comX, double _comY, double _comZ,
          double _Ixx, double _Iyy, double _Izz,
          double _Ixy, double _Ixz, double _Iyz);
 
  void setParameter(Param _param, double _value);
 
  double getParameter(Param _param) const;
 
  void setMass(double _mass);
 
  double getMass() const;
 
  void setLocalCOM(const Eigen::Vector3d& _com);
 
  const Eigen::Vector3d& getLocalCOM() const;
 
  void setMoment(const Eigen::Matrix3d& _moment);
 
  void setMoment(double _Ixx, double _Iyy, double _Izz,
                 double _Ixy, double _Ixz, double _Iyz);
 
  Eigen::Matrix3d getMoment() const;
 
  void setSpatialTensor(const Eigen::Matrix6d& _spatial);
 
  const Eigen::Matrix6d& getSpatialTensor() const;
 
  static bool verifyMoment(const Eigen::Matrix3d& _moment,
                           bool _printWarnings = true,
                           double _tolerance = 1e-8);
 
  static bool verifySpatialTensor(const Eigen::Matrix6d& _spatial,
                                  bool _printWarnings = true,
                                  double _tolerance = 1e-8);
 
  bool verify(bool _printWarnings = true,
              double _tolerance = 1e-8) const;
 
  bool operator==(const Inertia& other) const;
 
protected:
 
  void computeSpatialTensor();
 
  void computeParameters();
 
  double mMass;
 
  Eigen::Vector3d mCenterOfMass;
 
  std::array<double,6> mMoment;
 
  Eigen::Matrix6d mSpatialTensor;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_INERTIA_HPP_