All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Friends | List of all members
gazebo::physics::Inertial Class Reference

A class for inertial information about a link. More...

#include <physics/physics.hh>

Public Member Functions

 Inertial ()
 Default Constructor.
 
 Inertial (double _mass)
 Constructor.
 
 Inertial (const Inertial &_inertial)
 Copy constructor.
 
virtual ~Inertial ()
 Destructor.
 
const math::Vector3GetCoG () const
 Get the center of gravity.
 
double GetIXX () const
 Get IXX.
 
double GetIXY () const
 Get IXY.
 
double GetIXZ () const
 Get IXZ.
 
double GetIYY () const
 Get IYY.
 
double GetIYZ () const
 Get IXZ.
 
double GetIZZ () const
 Get IZZ.
 
double GetMass () const
 Get the mass.
 
const math::Pose GetPose () const
 Get the pose about which the mass and inertia matrix is specified in the Link frame.
 
math::Vector3 GetPrincipalMoments () const
 Get the principal moments of inertia (Ixx, Iyy, Izz).
 
math::Vector3 GetProductsofInertia () const
 Get the products of inertia (Ixy, Ixy, Iyz).
 
void Load (sdf::ElementPtr _sdf)
 Load from SDF values.
 
Inertial operator+ (const Inertial &_inertial) const
 Addition operator.
 
const Inertialoperator+= (const Inertial &_inertial)
 Addition equal operator.
 
Inertialoperator= (const Inertial &_inertial)
 Equal operator.
 
void ProcessMsg (const msgs::Inertial &_msg)
 Update parameters from a message.
 
void Reset ()
 Reset all the mass properties.
 
void Rotate (const math::Quaternion &_rot)
 Rotate this mass.
 
void SetCoG (double _cx, double _cy, double _cz)
 Set the center of gravity.
 
void SetCoG (const math::Vector3 &_center)
 Set the center of gravity.
 
void SetInertiaMatrix (double _ixx, double _iyy, double _izz, double _ixy, double _ixz, double iyz)
 Set the mass matrix.
 
void SetIXX (double _v)
 Set IXX.
 
void SetIXY (double _v)
 Set IXY.
 
void SetIXZ (double _v)
 Set IXZ.
 
void SetIYY (double _v)
 Set IYY.
 
void SetIYZ (double _v)
 Set IYZ.
 
void SetIZZ (double _v)
 Set IZZ.
 
void SetMass (double m)
 Set the mass.
 
void UpdateParameters (sdf::ElementPtr _sdf)
 update the parameters using new sdf values.
 

Friends

std::ostream & operator<< (std::ostream &_out, const gazebo::physics::Inertial &_inertial)
 Output operator.
 

Detailed Description

A class for inertial information about a link.

Constructor & Destructor Documentation

gazebo::physics::Inertial::Inertial ( )

Default Constructor.

gazebo::physics::Inertial::Inertial ( double  _mass)
explicit

Constructor.

Parameters
[in]_massMass value in kg if using metric.
gazebo::physics::Inertial::Inertial ( const Inertial _inertial)

Copy constructor.

Parameters
[in]_inertialInertial element to copy
virtual gazebo::physics::Inertial::~Inertial ( )
virtual

Destructor.

Member Function Documentation

const math::Vector3& gazebo::physics::Inertial::GetCoG ( ) const
inline

Get the center of gravity.

Returns
The center of gravity.
double gazebo::physics::Inertial::GetIXX ( ) const

Get IXX.

Returns
IXX value
double gazebo::physics::Inertial::GetIXY ( ) const

Get IXY.

Returns
IXY value
double gazebo::physics::Inertial::GetIXZ ( ) const

Get IXZ.

Returns
IXZ value
double gazebo::physics::Inertial::GetIYY ( ) const

Get IYY.

Returns
IYY value
double gazebo::physics::Inertial::GetIYZ ( ) const

Get IXZ.

Returns
IYZ value
double gazebo::physics::Inertial::GetIZZ ( ) const

Get IZZ.

Returns
IZZ value
double gazebo::physics::Inertial::GetMass ( ) const

Get the mass.

const math::Pose gazebo::physics::Inertial::GetPose ( ) const
inline

Get the pose about which the mass and inertia matrix is specified in the Link frame.

Returns
The inertial pose.
math::Vector3 gazebo::physics::Inertial::GetPrincipalMoments ( ) const

Get the principal moments of inertia (Ixx, Iyy, Izz).

Returns
The principal moments.
math::Vector3 gazebo::physics::Inertial::GetProductsofInertia ( ) const

Get the products of inertia (Ixy, Ixy, Iyz).

Returns
The products of inertia.
void gazebo::physics::Inertial::Load ( sdf::ElementPtr  _sdf)

Load from SDF values.

Parameters
[in]_sdfSDF value to load from.
Inertial gazebo::physics::Inertial::operator+ ( const Inertial _inertial) const

Addition operator.

Parameters
[in]_inertialInertial to add.
Returns
The result of the addition.
const Inertial& gazebo::physics::Inertial::operator+= ( const Inertial _inertial)

Addition equal operator.

Parameters
[in]_inertialInertial to add.
Returns
Reference to this object.
Inertial& gazebo::physics::Inertial::operator= ( const Inertial _inertial)

Equal operator.

Parameters
[in]_inertialInertial to copy.
Returns
Reference to this object.
void gazebo::physics::Inertial::ProcessMsg ( const msgs::Inertial &  _msg)

Update parameters from a message.

Parameters
[in]_msgMessage to read
void gazebo::physics::Inertial::Reset ( )

Reset all the mass properties.

void gazebo::physics::Inertial::Rotate ( const math::Quaternion _rot)

Rotate this mass.

Parameters
[in]_rotRotation amount.
void gazebo::physics::Inertial::SetCoG ( double  _cx,
double  _cy,
double  _cz 
)

Set the center of gravity.

Parameters
[in]_cxX position.
[in]_cyY position.
[in]_czZ position.
void gazebo::physics::Inertial::SetCoG ( const math::Vector3 _center)

Set the center of gravity.

Parameters
[in]_centerCenter of the gravity.
void gazebo::physics::Inertial::SetInertiaMatrix ( double  _ixx,
double  _iyy,
double  _izz,
double  _ixy,
double  _ixz,
double  iyz 
)

Set the mass matrix.

Parameters
[in]_ixxX second moment of inertia about x axis.
[in]_iyyY second moment of inertia about y axis.
[in]_izzZ second moment of inertia about z axis.
[in]_ixyXY inertia.
[in]_ixzXZ inertia.
[in]_iyzYZ inertia.
void gazebo::physics::Inertial::SetIXX ( double  _v)

Set IXX.

Parameters
[in]_vIXX value
void gazebo::physics::Inertial::SetIXY ( double  _v)

Set IXY.

Parameters
[in]_vIXY value
void gazebo::physics::Inertial::SetIXZ ( double  _v)

Set IXZ.

Parameters
[in]_vIXZ value
void gazebo::physics::Inertial::SetIYY ( double  _v)

Set IYY.

Parameters
[in]_vIYY value
void gazebo::physics::Inertial::SetIYZ ( double  _v)

Set IYZ.

Parameters
[in]_vIXX value
void gazebo::physics::Inertial::SetIZZ ( double  _v)

Set IZZ.

Parameters
[in]_vIZZ value
void gazebo::physics::Inertial::SetMass ( double  m)

Set the mass.

void gazebo::physics::Inertial::UpdateParameters ( sdf::ElementPtr  _sdf)

update the parameters using new sdf values.

Parameters
[in]_sdfUpdate values from.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out,
const gazebo::physics::Inertial _inertial 
)
friend

Output operator.

Parameters
[in]_outOutput stream.
[in]_inertialInertial object to output.

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