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::Vector3 &	GetCoG () 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 Inertial &	operator+= (const Inertial &_inertial)
	Addition equal operator.
Inertial &	operator= (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]

_mass

Mass value in kg if using metric.

gazebo::physics::Inertial::Inertial

(

const Inertial &

_inertial

)

Copy constructor.

Parameters

[in]

_inertial

Inertial 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]

_sdf

SDF value to load from.

Inertial gazebo::physics::Inertial::operator+

(

const Inertial &

_inertial

)

const

Addition operator.

Parameters

[in]

_inertial

Inertial to add.

Returns

The result of the addition.

const Inertial& gazebo::physics::Inertial::operator+=

(

const Inertial &

_inertial

)

Addition equal operator.

Parameters

[in]

_inertial

Inertial to add.

Returns

Reference to this object.

Inertial& gazebo::physics::Inertial::operator=

(

const Inertial &

_inertial

)

Equal operator.

Parameters

[in]

_inertial

Inertial to copy.

Returns

Reference to this object.

void gazebo::physics::Inertial::ProcessMsg

(

const msgs::Inertial &

_msg

)

Update parameters from a message.

Parameters

[in]

_msg

Message 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]

_rot

Rotation amount.

void gazebo::physics::Inertial::SetCoG	(	double	_cx,
		double	_cy,
		double	_cz
	)

Set the center of gravity.

Parameters

[in]	_cx	X position.
[in]	_cy	Y position.
[in]	_cz	Z position.

void gazebo::physics::Inertial::SetCoG

(

const math::Vector3 &

_center

)

Set the center of gravity.

Parameters

[in]

_center

Center 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]	_ixx	X second moment of inertia about x axis.
[in]	_iyy	Y second moment of inertia about y axis.
[in]	_izz	Z second moment of inertia about z axis.
[in]	_ixy	XY inertia.
[in]	_ixz	XZ inertia.
[in]	_iyz	YZ inertia.

void gazebo::physics::Inertial::SetIXX

(

double

_v

)

Set IXX.

Parameters

[in]

_v

IXX value

void gazebo::physics::Inertial::SetIXY

(

double

_v

)

Set IXY.

Parameters

[in]

_v

IXY value

void gazebo::physics::Inertial::SetIXZ

(

double

_v

)

Set IXZ.

Parameters

[in]

_v

IXZ value

void gazebo::physics::Inertial::SetIYY

(

double

_v

)

Set IYY.

Parameters

[in]

_v

IYY value

void gazebo::physics::Inertial::SetIYZ

(

double

_v

)

Set IYZ.

Parameters

[in]

_v

IXX value

void gazebo::physics::Inertial::SetIZZ

(

double

_v

)

Set IZZ.

Parameters

[in]

_v

IZZ 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]

_sdf

Update values from.

Friends And Related Function Documentation

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

friend

Output operator.

Parameters

[in]	_out	Output stream.
[in]	_inertial	Inertial object to output.

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

• Inertial.hh