ERC CISST - cisst software

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robMass Class Reference

Inheritance diagram for robMass:

[legend]Collaboration diagram for robMass:

[legend]List of all members.

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Detailed Description

Definition at line 27 of file robMass.h.

Public Types

• enum Errno

Public Member Functions

• robMass ()

  Set the mass, center of mass and inertia to zero.
  

• robMass (double m, const vctFixedSizeVector< double, 3 > &com, const vctFixedSizeMatrix< double, 3, 3 > &D, const vctFixedSizeMatrix< double, 3, 3 > &V)
• double Mass () const

  Returns:

  The mass of the body

  
  

• vctFixedSizeVector< double, 3 > CenterOfMass () const

  Return the center of mass.
  

• vctFixedSizeMatrix< double, 3, 3 > MomentOfInertia () const

  Return the moment of inertia tensor.
  

• vctFixedSizeMatrix< double, 3, 3 > MomentOfInertiaAtCOM () const
• robMass::Errno ReadMass (std::istream &is)

  Read the mass from a input stream.
  

• robMass::Errno WriteMass (std::ostream &os) const

  Write the mass from a output stream.
  

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Member Function Documentation

vctFixedSizeVector<double,3> robMass::CenterOfMass

(

)

const

Return the center of mass.

The center of mass is expressed in the coordinate frame of the body.

Returns:

A 3D vector representing the center of mass

vctFixedSizeMatrix<double,3,3> robMass::MomentOfInertia

(

)

const

Return the moment of inertia tensor.

The tensor is with respect to the coordinate frame of the body which does not necessarily coincide with the center of mass of the body and the principal axes.

Returns:

A 3x3 moment of inertia tensor

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The documentation for this class was generated from the following file:

• robMass.h

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