Package org.robwork.sdurw

Class InertiaMatrixf

java.lang.Object

org.robwork.sdurw.InertiaMatrixf

public class InertiaMatrixf
extends java.lang.Object

A 3x3 inertia matrix

Constructor Summary

Constructors

Constructor	Description
InertiaMatrixf()	constructor - where only the diagonal is set
InertiaMatrixf(float i)	constructor - where only the diagonal is set
InertiaMatrixf(float i, float j)	constructor - where only the diagonal is set
InertiaMatrixf(float i, float j, float k)	constructor - where only the diagonal is set
InertiaMatrixf(float r11, float r12, float r13, float r21, float r22, float r23, float r31, float r32, float r33)	Constructs an initialized 3x3 rotation matrix
InertiaMatrixf(long cPtr, boolean cMemoryOwn)
InertiaMatrixf(EigenMatrix3f r)	Construct an internal matrix from a Eigen::MatrixBase It is the responsibility of the user that 3x3 matrix is indeed an inertia matrix.
InertiaMatrixf(Vector3Df i, Vector3Df j, Vector3Df 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
InertiaMatrixf	add(InertiaMatrixf I2)	Calculates the addition between the two InertiaMatrices
void	delete()
EigenMatrix3f	e()	Returns reference to the internal 3x3 matrix
float	get(long row, long column)
static long	getCPtr(InertiaMatrixf obj)
static InertiaMatrixf	makeCuboidInertia(float mass, float x, float y, float z)	calculates the inertia of a cuboid where the reference frame is in the center of the cuboid with
static InertiaMatrixf	makeHollowSphereInertia(float mass, float radi)	Make inertia matrix for a hollow sphere.
static InertiaMatrixf	makeSolidSphereInertia(float mass, float radi)	Make inertia matrix for a solid sphere.
InertiaMatrixf	multiply(Rotation3Df bRc)	Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
Vector3Df	multiply(Vector3Df bVc)	Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
void	set(long row, long column, float d)
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

InertiaMatrixf

public InertiaMatrixf(long cPtr,
                      boolean cMemoryOwn)

InertiaMatrixf

public InertiaMatrixf(float r11,
                      float r12,
                      float r13,
                      float r21,
                      float r22,
                      float r23,
                      float r31,
                      float r32,
                      float 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]

InertiaMatrixf

public InertiaMatrixf(Vector3Df i,
                      Vector3Df j,
                      Vector3Df 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}}

InertiaMatrixf

public InertiaMatrixf(float i,
                      float j,
                      float k)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

j - [in] m(1,1)

k - [in] m(2,2)

InertiaMatrixf

public InertiaMatrixf(float i,
                      float j)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

j - [in] m(1,1)

InertiaMatrixf

public InertiaMatrixf(float i)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

InertiaMatrixf

public InertiaMatrixf()

constructor - where only the diagonal is set

InertiaMatrixf

public InertiaMatrixf(EigenMatrix3f 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(InertiaMatrixf obj)

delete

public void delete()

e

public EigenMatrix3f e()

Returns reference to the internal 3x3 matrix

multiply

public InertiaMatrixf multiply(Rotation3Df 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 InertiaMatrixf add(InertiaMatrixf I2)

Calculates the addition between the two InertiaMatrices

multiply

public Vector3Df multiply(Vector3Df 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 InertiaMatrixf makeSolidSphereInertia(float mass,
                                                    float 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 InertiaMatrixf makeHollowSphereInertia(float mass,
                                                     float 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 InertiaMatrixf makeCuboidInertia(float mass,
                                               float x,
                                               float y,
                                               float 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 float get(long row,
                 long column)

set

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