spatial-dyn
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spatial_dyn::SpatialInertia< Scalar > Class Template Reference

Classes

struct  MotionProductTraits
 

Public Member Functions

 SpatialInertia (const SpatialInertia< Scalar > &other)
 
 SpatialInertia (SpatialInertia< Scalar > &&other)
 
template<typename ComDerived , typename IComDerived >
 SpatialInertia (Scalar mass, const Eigen::MatrixBase< ComDerived > &com, const Eigen::MatrixBase< IComDerived > &I_com_flat)
 
SpatialInertia< Scalar > & operator= (const SpatialInertia< Scalar > &other)
 
SpatialInertia< Scalar > & operator= (SpatialInertia< Scalar > &&other)
 
template<typename OtherDerived >
MotionProductTraits< OtherDerived >::ReturnType operator* (const SpatialMotionBase< OtherDerived > &other) const
 
SpatialInertia< Scalar > & operator+= (const SpatialInertia< Scalar > &other)
 
SpatialInertia< Scalar > operator+ (const SpatialInertia< Scalar > &other) const
 
bool operator== (const SpatialInertia< Scalar > &other) const
 
bool operator!= (const SpatialInertia< Scalar > &other) const
 
SpatialInertiaMatrix< Scalar > matrix () const
 
Eigen::Matrix< Scalar, 6, 1 > I_com_flat () const
 
template<typename OtherDerived >
SpatialInertia< Scalar >::template MotionProductTraits< OtherDerived >::ReturnType operator* (const SpatialMotionBase< OtherDerived > &other) const
 

Public Attributes

double mass = 0
 
Eigen::Matrix< Scalar, 3, 1 > com = Eigen::Matrix<Scalar,3,1>::Zero()
 
Eigen::Matrix< Scalar, 3, 3 > I_com = Eigen::Matrix<Scalar,3,3>::Zero()
 
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