A 3x3 inertia matrix. More...

#include <InertiaMatrix.hpp>

Public Types
typedef Eigen::Matrix< T, 3, 3 >	Base
	The type of the internal Eigen matrix implementation.

Public Member Functions
	InertiaMatrix (T r11, T r12, T r13, T r21, T r22, T r23, T r31, T r32, T r33)
	Constructs an initialized 3x3 rotation matrix. More...

	InertiaMatrix (const rw::math::Vector3D< T > &i, const rw::math::Vector3D< T > &j, const rw::math::Vector3D< T > &k)
	Constructs an initialized 3x3 rotation matrix \( \robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{ccc} \robabx{a}{b}{\mathbf{i}} & \robabx{a}{b}{\mathbf{j}} & \robabx{a}{b}{\mathbf{k}} \end{array} \right] \). More...

	InertiaMatrix (T i=0.0, T j=0.0, T k=0.0)
	constructor - where only the diagonal is set More...

	InertiaMatrix (const Base &r)
	Construct an internal matrix from a Eigen::MatrixBase It is the responsibility of the user that 3x3 matrix is indeed an inertia matrix.

T &	operator() (size_t row, size_t column)
	Returns reference to matrix element. More...

const T &	operator() (size_t row, size_t column) const
	Returns reference to matrix element. More...

const Base &	e () const
	Returns reference to the internal 3x3 matrix.

Base &	e ()
	Returns reference to the internal 3x3 matrix.

InertiaMatrix	operator* (const rw::math::Rotation3D< T > &bRc) const
	Calculates \( \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}} \). More...

InertiaMatrix	operator+ (const InertiaMatrix &I2) const
	Calculates the addition between the two InertiaMatrices.

rw::math::Vector3D< T >	operator* (const rw::math::Vector3D< T > &bVc) const
	Calculates \( \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}} \). More...

bool	operator== (const InertiaMatrix &rhs) const
	Comparison operator. More...

bool	operator!= (const InertiaMatrix &rhs) const
	Comparison operator. More...

rw::math::Vector3D< T >	diag () const
	get The diagonal of the Matrix More...

Static Public Member Functions
static InertiaMatrix< T >	makeSolidSphereInertia (T mass, T radi)
	Make inertia matrix for a solid sphere. More...

static InertiaMatrix< T >	makeHollowSphereInertia (T mass, T radi)
	Make inertia matrix for a hollow sphere. More...

static InertiaMatrix< T >	makeCuboidInertia (T mass, T x, T y, T z)
	calculates the inertia of a cuboid where the reference frame is in the center of the cuboid with More...

Friends
InertiaMatrix	operator* (const rw::math::Rotation3D< T > &aRb, const InertiaMatrix &bRc)
	Calculates \( \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}} \). More...

std::ostream &	operator<< (std::ostream &os, const InertiaMatrix &r)
	Writes rotation matrix to stream. More...

Related Functions
(Note that these are not member functions.)
template<>
void	write (const rw::math::InertiaMatrix< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void	write (const rw::math::InertiaMatrix< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void	read (rw::math::InertiaMatrix< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<>
void	read (rw::math::InertiaMatrix< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

Detailed Description

template<class T = double>
class rw::math::InertiaMatrix< T >

A 3x3 inertia matrix.

Constructor & Destructor Documentation

◆ InertiaMatrix() [1/3]

InertiaMatrix	(	T	r11,
		T	r12,
		T	r13,
		T	r21,
		T	r22,
		T	r23,
		T	r31,
		T	r32,
		T	r33
	)

inline

Constructs an initialized 3x3 rotation matrix.

Parameters

r11	\( r_{11} \)
r12	\( r_{12} \)
r13	\( r_{13} \)
r21	\( r_{21} \)
r22	\( r_{22} \)
r23	\( r_{23} \)
r31	\( r_{31} \)
r32	\( r_{32} \)
r33	\( r_{33} \)

\( \mathbf{R} = \left[ \begin{array}{ccc} r_{11} & r_{12} & r_{13} \\ r_{21} & r_{22} & r_{23} \\ r_{31} & r_{32} & r_{33} \end{array} \right] \)

◆ InertiaMatrix() [2/3]

InertiaMatrix	(	const rw::math::Vector3D< T > &	i,
		const rw::math::Vector3D< T > &	j,
		const rw::math::Vector3D< T > &	k
	)

inline

Constructs an initialized 3x3 rotation matrix \( \robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{ccc} \robabx{a}{b}{\mathbf{i}} & \robabx{a}{b}{\mathbf{j}} & \robabx{a}{b}{\mathbf{k}} \end{array} \right] \).

Parameters

i	\( \robabx{a}{b}{\mathbf{i}} \)
j	\( \robabx{a}{b}{\mathbf{j}} \)
k	\( \robabx{a}{b}{\mathbf{k}} \)

◆ InertiaMatrix() [3/3]

InertiaMatrix	(	T	i = `0.0`,
		T	j = `0.0`,
		T	k = `0.0`
	)

inline

constructor - where only the diagonal is set

Parameters

i	[in] m(0,0)
j	[in] m(1,1)
k	[in] m(2,2)

Member Function Documentation

◆ diag()

rw::math::Vector3D<T> diag ( ) const

inline

get The diagonal of the Matrix

Returns: Vector3D< T >

◆ makeCuboidInertia()

static InertiaMatrix<T> makeCuboidInertia	(	T	mass,
		T	x,
		T	y,
		T	z
	)

inlinestatic

calculates the inertia of a cuboid where the reference frame is in the center of the cuboid with

Parameters

mass
x
y
z

Returns

◆ makeHollowSphereInertia()

static InertiaMatrix<T> makeHollowSphereInertia	(	T	mass,
		T	radi
	)

inlinestatic

Make inertia matrix for a hollow sphere.

Parameters

mass	[in] mass of hollow sphere.
radi	[in] radius of sphere.

Returns: the inertia matrix.

◆ makeSolidSphereInertia()

static InertiaMatrix<T> makeSolidSphereInertia	(	T	mass,
		T	radi
	)

inlinestatic

Make inertia matrix for a solid sphere.

Parameters

mass	[in] mass of solid sphere.
radi	[in] radius of sphere.

Returns: the inertia matrix.

◆ operator!=()

bool operator!= ( const InertiaMatrix< T > & rhs ) const

inline

Comparison operator.

The comparison operator makes a element wise comparison. Returns true if any of the elements are different.

Parameters

rhs	[in] InertiaMatrix to compare with

Returns: True if not equal.

◆ operator()() [1/2]

T& operator()	(	size_t	row,
		size_t	column
	)

inline

Returns reference to matrix element.

Parameters

row	[in] row
column	[in] column

Returns: reference to the element

◆ operator()() [2/2]

const T& operator()	(	size_t	row,
		size_t	column
	)		const

inline

Returns reference to matrix element.

Parameters

row	[in] row
column	[in] column

Returns: reference to the element

◆ operator*() [1/2]

InertiaMatrix operator* ( const rw::math::Rotation3D< T > & bRc ) const

inline

Calculates \( \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}} \).

Parameters

bRc	[in] \( \robabx{b}{c}{\mathbf{R}} \)

Returns: \( \robabx{a}{c}{\mathbf{R}} \)

◆ operator*() [2/2]

rw::math::Vector3D<T> operator* ( const rw::math::Vector3D< T > & bVc ) const

inline

Calculates \( \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}} \).

Parameters

bVc	[in] \( \robabx{b}{c}{\mathbf{v}} \)

Returns: \( \robabx{a}{c}{\mathbf{v}} \)

◆ operator==()

bool operator== ( const InertiaMatrix< T > & rhs ) const

inline

Comparison operator.

The comparison operator makes a element wise comparison. Returns true only if all elements are equal.

Parameters

rhs	[in] InertiaMatrix to compare with

Returns: True if equal.

Friends And Related Function Documentation

◆ operator*

InertiaMatrix operator*	(	const rw::math::Rotation3D< T > &	aRb,
		const InertiaMatrix< T > &	bRc
	)

friend

Calculates \( \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}} \).

Parameters

aRb	[in] \( \robabx{a}{b}{\mathbf{R}} \)
bRc	[in] \( \robabx{b}{c}{\mathbf{R}} \)

Returns: \( \robabx{a}{c}{\mathbf{R}} \)

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const InertiaMatrix< T > &	r
	)

friend

Writes rotation matrix to stream.

Parameters

os	[in/out] output stream to use
r	[in] rotation matrix to print

Returns: the updated output stream

◆ read() [1/2]

void read	(	rw::math::InertiaMatrix< double > &	sobject,
		rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ read() [2/2]

void read	(	rw::math::InertiaMatrix< float > &	sobject,
		rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [1/2]

void write	(	const rw::math::InertiaMatrix< double > &	sobject,
		rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [2/2]

void write	(	const rw::math::InertiaMatrix< float > &	sobject,
		rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

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

core/math_fwd.hpp
InertiaMatrix.hpp

Public Types

Public Member Functions

Static Public Member Functions

Friends

Related Functions

Detailed Description

template<class T = double> class rw::math::InertiaMatrix< T >

Constructor & Destructor Documentation

◆ InertiaMatrix() [1/3]

◆ InertiaMatrix() [2/3]

◆ InertiaMatrix() [3/3]

Member Function Documentation

◆ diag()

◆ makeCuboidInertia()

◆ makeHollowSphereInertia()

◆ makeSolidSphereInertia()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator==()

Friends And Related Function Documentation

◆ operator*

◆ operator<<

◆ read() [1/2]

◆ read() [2/2]

◆ write() [1/2]

◆ write() [2/2]

template<class T = double>
class rw::math::InertiaMatrix< T >