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77 double _ixy,
double _ixz,
double iyz);
83 public:
void SetCoG(
double _cx,
double _cy,
double _cz);
110 public:
double GetIXX()
const;
114 public:
double GetIYY()
const;
118 public:
double GetIZZ()
const;
122 public:
double GetIXY()
const;
126 public:
double GetIXZ()
const;
130 public:
double GetIYZ()
const;
134 public:
void SetIXX(
double _v);
138 public:
void SetIYY(
double _v);
142 public:
void SetIZZ(
double _v);
146 public:
void SetIXY(
double _v);
150 public:
void SetIXZ(
double _v);
154 public:
void SetIYZ(
double _v);
177 public:
void ProcessMsg(
const msgs::Inertial &_msg);
185 _out <<
"Mass[" << _inertial.mass <<
"] CoG["
186 << _inertial.cog <<
"]\n";
187 _out <<
"IXX[" << _inertial.principals.
x <<
"] "
188 <<
"IYY[" << _inertial.principals.
y <<
"] "
189 <<
"IZZ[" << _inertial.principals.
z <<
"]\n";
190 _out <<
"IXY[" << _inertial.products.
x <<
"] "
191 <<
"IXZ[" << _inertial.products.
y <<
"] "
192 <<
"IYZ[" << _inertial.products.
z <<
"]\n";
197 private:
double mass;