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44 public:
explicit Inertial(
double _mass);
78 double _ixy,
double _ixz,
double iyz);
84 public:
void SetCoG(
double _cx,
double _cy,
double _cz);
98 public:
void SetCoG(
double _cx,
double _cy,
double _cz,
99 double _rx,
double _ry,
double _rz);
109 return this->cog.
pos;
130 public:
double GetIXX()
const;
134 public:
double GetIYY()
const;
138 public:
double GetIZZ()
const;
142 public:
double GetIXY()
const;
146 public:
double GetIXZ()
const;
150 public:
double GetIYZ()
const;
154 public:
void SetIXX(
double _v);
158 public:
void SetIYY(
double _v);
162 public:
void SetIZZ(
double _v);
166 public:
void SetIXY(
double _v);
170 public:
void SetIXZ(
double _v);
174 public:
void SetIYZ(
double _v);
201 public:
void ProcessMsg(
const msgs::Inertial &_msg);
227 _out <<
"Mass[" << _inertial.mass <<
"] CoG["
228 << _inertial.cog <<
"]\n";
229 _out <<
"IXX[" << _inertial.principals.
x <<
"] "
230 <<
"IYY[" << _inertial.principals.
y <<
"] "
231 <<
"IZZ[" << _inertial.principals.
z <<
"]\n";
232 _out <<
"IXY[" << _inertial.products.
x <<
"] "
233 <<
"IXZ[" << _inertial.products.
y <<
"] "
234 <<
"IYZ[" << _inertial.products.
z <<
"]\n";
247 private:
double mass;