Inertia.hpp

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#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_