Package org.robwork.sdurw

Class InertiaMatrixd

java.lang.Object

org.robwork.sdurw.InertiaMatrixd

public class InertiaMatrixd
extends java.lang.Object

A 3x3 inertia matrix

Constructor Summary

Constructors

Constructor	Description
InertiaMatrixd()	constructor - where only the diagonal is set
InertiaMatrixd(double i)	constructor - where only the diagonal is set
InertiaMatrixd(double i, double j)	constructor - where only the diagonal is set
InertiaMatrixd(double i, double j, double k)	constructor - where only the diagonal is set
InertiaMatrixd(double r11, double r12, double r13, double r21, double r22, double r23, double r31, double r32, double r33)	Constructs an initialized 3x3 rotation matrix
InertiaMatrixd(long cPtr, boolean cMemoryOwn)
InertiaMatrixd(EigenMatrix3d r)	Construct an internal matrix from a Eigen::MatrixBase It is the responsibility of the user that 3x3 matrix is indeed an inertia matrix.
InertiaMatrixd(Vector3Dd i, Vector3Dd j, Vector3Dd 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]

Method Summary

Modifier and Type	Method	Description
InertiaMatrixd	add(InertiaMatrixd I2)	Calculates the addition between the two InertiaMatrices
void	delete()
EigenMatrix3d	e()	Returns reference to the internal 3x3 matrix
double	get(long row, long column)
static long	getCPtr(InertiaMatrixd obj)
static InertiaMatrixd	makeCuboidInertia(double mass, double x, double y, double z)	calculates the inertia of a cuboid where the reference frame is in the center of the cuboid with
static InertiaMatrixd	makeHollowSphereInertia(double mass, double radi)	Make inertia matrix for a hollow sphere.
static InertiaMatrixd	makeSolidSphereInertia(double mass, double radi)	Make inertia matrix for a solid sphere.
InertiaMatrixd	multiply(Rotation3Dd bRc)	Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
Vector3Dd	multiply(Vector3Dd bVc)	Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
void	set(long row, long column, double d)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

InertiaMatrixd

public InertiaMatrixd(long cPtr,
                      boolean cMemoryOwn)

InertiaMatrixd

public InertiaMatrixd(double r11,
                      double r12,
                      double r13,
                      double r21,
                      double r22,
                      double r23,
                      double r31,
                      double r32,
                      double r33)

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]

InertiaMatrixd

public InertiaMatrixd(Vector3Dd i,
                      Vector3Dd j,
                      Vector3Dd 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]

Parameters:

i - \robabx{a}{b}{\mathbf{i}}

j - \robabx{a}{b}{\mathbf{j}}

k - \robabx{a}{b}{\mathbf{k}}

InertiaMatrixd

public InertiaMatrixd(double i,
                      double j,
                      double k)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

j - [in] m(1,1)

k - [in] m(2,2)

InertiaMatrixd

public InertiaMatrixd(double i,
                      double j)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

j - [in] m(1,1)

InertiaMatrixd

public InertiaMatrixd(double i)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

InertiaMatrixd

public InertiaMatrixd()

constructor - where only the diagonal is set

InertiaMatrixd

public InertiaMatrixd(EigenMatrix3d r)

Construct an internal matrix from a Eigen::MatrixBase
It is the responsibility of the user that 3x3 matrix is indeed an
inertia matrix.

Method Detail

getCPtr

public static long getCPtr(InertiaMatrixd obj)

delete

public void delete()

e

public EigenMatrix3d e()

Returns reference to the internal 3x3 matrix

multiply

public InertiaMatrixd multiply(Rotation3Dd bRc)

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}}

add

public InertiaMatrixd add(InertiaMatrixd I2)

Calculates the addition between the two InertiaMatrices

multiply

public Vector3Dd multiply(Vector3Dd bVc)

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}}

makeSolidSphereInertia

public static InertiaMatrixd makeSolidSphereInertia(double mass,
                                                    double radi)

Make inertia matrix for a solid sphere.

Parameters:

mass - [in] mass of solid sphere.

radi - [in] radius of sphere.

Returns:

the inertia matrix.

makeHollowSphereInertia

public static InertiaMatrixd makeHollowSphereInertia(double mass,
                                                     double radi)

Make inertia matrix for a hollow sphere.

Parameters:

mass - [in] mass of hollow sphere.

radi - [in] radius of sphere.

Returns:

the inertia matrix.

makeCuboidInertia

public static InertiaMatrixd makeCuboidInertia(double mass,
                                               double x,
                                               double y,
                                               double z)

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

Parameters:

mass -

x -

y -

z -

Returns:

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public double get(long row,
                  long column)

set

public void set(long row,
                long column,
                double d)