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

#include <physics/physics.hh>

Public Member Functions
	Inertial ()
	Default Constructor. More...

	Inertial (const double _mass)
	Constructor. More...

	Inertial (const ignition::math::Inertiald &_inertial)
	Constructor from ignition::math::Inertial. More...

	Inertial (const Inertial &_inertial)
	Copy constructor. More...

virtual	~Inertial ()
	Destructor. More...

const ignition::math::Vector3d &	CoG () const
	Get the center of gravity. More...

ignition::math::Inertiald	Ign () const
	Return copy of Inertial in ignition format. More...

double	IXX () const
	Get IXX. More...

double	IXY () const
	Get IXY. More...

double	IXZ () const
	Get IXZ. More...

double	IYY () const
	Get IYY. More...

double	IYZ () const
	Get IYZ. More...

double	IZZ () const
	Get IZZ. More...

void	Load (sdf::ElementPtr _sdf)
	Load from SDF values. More...

double	Mass () const
	Get the mass. More...

ignition::math::Matrix3d	MOI (const ignition::math::Pose3d &_pose) const
	Get the equivalent inertia from a point in local Link frame If you specify MOI(this->GetPose()), you should get back the Moment of Inertia (MOI) exactly as specified in the SDF. More...

ignition::math::Matrix3d	MOI () const
	returns Moments of Inertia as a Matrix3 More...

Inertial	operator() (const ignition::math::Pose3d &_frameOffset) const
	Get equivalent Inertia values with the Link frame offset, while holding the Pose of CoG constant in the world frame. More...

Inertial	operator() (const ignition::math::Vector3d &_frameOffset) const
	Get equivalent Inertia values with the Link frame offset, while holding the Pose of CoG constant in the world frame. More...

Inertial	operator+ (const Inertial &_inertial) const
	Addition operator. More...

const Inertial &	operator+= (const Inertial &_inertial)
	Addition equal operator. More...

Inertial &	operator= (const Inertial &_inertial)
	Equal operator. More...

Inertial &	operator= (const ignition::math::Inertiald &_inertial)
	Equal operator. More...

ignition::math::Pose3d	Pose () const
	Get the pose about which the mass and inertia matrix is specified in the Link frame. More...

const ignition::math::Vector3d &	PrincipalMoments () const
	Get the principal moments of inertia (Ixx, Iyy, Izz). More...

void	ProcessMsg (const msgs::Inertial &_msg)
	Update parameters from a message. More...

const ignition::math::Vector3d &	ProductsOfInertia () const
	Get the products of inertia (Ixy, Ixz, Iyz). More...

void	Reset ()
	Reset all the mass properties. More...

void	Rotate (const ignition::math::Quaterniond &_rot)
	Rotate this mass. More...

void	SetCoG (const double _cx, const double _cy, const double _cz)
	Set the center of gravity. More...

void	SetCoG (const ignition::math::Vector3d &_center)
	Set the center of gravity. More...

void	SetCoG (const double _cx, const double _cy, const double _cz, const double _rx, const double _ry, const double _rz)
	Set the center of gravity and rotation offset of inertial coordinate frame relative to Link frame. More...

void	SetCoG (const ignition::math::Pose3d &_c)
	Set the center of gravity. More...

void	SetInertiaMatrix (const double _ixx, const double _iyy, const double _izz, const double _ixy, const double _ixz, const double iyz)
	Set the mass matrix. More...

void	SetIXX (const double _v)
	Set IXX. More...

void	SetIXY (const double _v)
	Set IXY. More...

void	SetIXZ (const double _v)
	Set IXZ. More...

void	SetIYY (const double _v)
	Set IYY. More...

void	SetIYZ (const double _v)
	Set IYZ. More...

void	SetIZZ (const double _v)
	Set IZZ. More...

void	SetMass (const double _m)
	Set the mass. More...

void	SetMOI (const ignition::math::Matrix3d &_moi)
	Sets Moments of Inertia (MOI) from a Matrix3. More...

void	UpdateParameters (sdf::ElementPtr _sdf)
	update the parameters using new sdf values. More...

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

Detailed Description

A class for inertial information about a link.

Constructor & Destructor Documentation

◆ Inertial() [1/4]

Inertial ( )

Default Constructor.

◆ Inertial() [2/4]

Inertial ( const double _mass )

explicit

Constructor.

Parameters

[in] _mass Mass value in kg if using metric.

◆ Inertial() [3/4]

Inertial ( const ignition::math::Inertiald & _inertial )

Constructor from ignition::math::Inertial.

Parameters

[in] _inertial Ignition inertial object to copy.

◆ Inertial() [4/4]

Inertial ( const Inertial & _inertial )

Copy constructor.

Parameters

[in] _inertial Inertial element to copy

◆ ~Inertial()

virtual ~Inertial ( )

virtual

Destructor.

Member Function Documentation

◆ CoG()

const ignition::math::Vector3d& CoG ( ) const

Get the center of gravity.

Returns: The center of gravity.

◆ Ign()

ignition::math::Inertiald Ign ( ) const

Return copy of Inertial in ignition format.

◆ IXX()

double IXX ( ) const

Get IXX.

Returns: IXX value

◆ IXY()

double IXY ( ) const

Get IXY.

Returns: IXY value

◆ IXZ()

double IXZ ( ) const

Get IXZ.

Returns: IXZ value

◆ IYY()

double IYY ( ) const

Get IYY.

Returns: IYY value

◆ IYZ()

double IYZ ( ) const

Get IYZ.

Returns: IYZ value

◆ IZZ()

double IZZ ( ) const

Get IZZ.

Returns: IZZ value

◆ Load()

void Load ( sdf::ElementPtr _sdf )

Load from SDF values.

Parameters

[in] _sdf SDF value to load from.

◆ Mass()

double Mass ( ) const

Get the mass.

Returns: The mass in kilograms

◆ MOI() [1/2]

ignition::math::Matrix3d MOI ( const ignition::math::Pose3d & _pose ) const

Get the equivalent inertia from a point in local Link frame If you specify MOI(this->GetPose()), you should get back the Moment of Inertia (MOI) exactly as specified in the SDF.

If _pose is different from pose of the Inertial block, then the MOI is rotated accordingly, and contributions from changes in MOI location due to point mass is added to the final MOI.

Parameters

[in] _pose location in Link local frame

Returns: equivalent inertia at _pose

◆ MOI() [2/2]

ignition::math::Matrix3d MOI ( ) const

returns Moments of Inertia as a Matrix3

Returns: Moments of Inertia as a Matrix3

◆ operator()() [1/2]

Inertial operator() ( const ignition::math::Pose3d & _frameOffset ) const

Get equivalent Inertia values with the Link frame offset, while holding the Pose of CoG constant in the world frame.

Parameters

[in] _frameOffset amount to offset the Link frame by, this is a transform defined in the Link frame.

Returns: Inertial parameters with the shifted frame.

◆ operator()() [2/2]

Inertial operator() ( const ignition::math::Vector3d & _frameOffset ) const

Get equivalent Inertia values with the Link frame offset, while holding the Pose of CoG constant in the world frame.

Parameters

[in] _frameOffset amount to offset the Link frame by, this is a transform defined in the Link frame.

Returns: Inertial parameters with the shifted frame.

◆ operator+()

Inertial operator+ ( const Inertial & _inertial ) const

Addition operator.

Assuming both CG and Moment of Inertia (MOI) are defined in the same reference Link frame. New CG is computed from masses and perspective offsets, and both MOI contributions relocated to the new cog.

Parameters

[in] _inertial Inertial to add.

Returns: The result of the addition.

◆ operator+=()

const Inertial& operator+= ( const Inertial & _inertial )

Addition equal operator.

Parameters

[in] _inertial Inertial to add.

Returns: Reference to this object.

◆ operator=() [1/2]

Inertial& operator= ( const Inertial & _inertial )

Equal operator.

Parameters

[in] _inertial Inertial to copy.

Returns: Reference to this object.

◆ operator=() [2/2]

Inertial& operator= ( const ignition::math::Inertiald & _inertial )

Equal operator.

Parameters

[in] _inertial Ignition inertial to copy.

Returns: Reference to this object.

◆ Pose()

ignition::math::Pose3d Pose ( ) const

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

Returns: The inertial pose.

◆ PrincipalMoments()

const ignition::math::Vector3d& PrincipalMoments ( ) const

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

Returns: The principal moments.

◆ ProcessMsg()

void ProcessMsg ( const msgs::Inertial & _msg )

Update parameters from a message.

Parameters

[in] _msg Message to read

◆ ProductsOfInertia()

const ignition::math::Vector3d& ProductsOfInertia ( ) const

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

Returns: The products of inertia.

◆ Reset()

void Reset ( )

Reset all the mass properties.

◆ Rotate()

void Rotate ( const ignition::math::Quaterniond & _rot )

Rotate this mass.

Parameters

[in] _rot Rotation amount.

◆ SetCoG() [1/4]

void SetCoG	(	const double	_cx,
		const double	_cy,
		const double	_cz
	)

Set the center of gravity.

Parameters

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

◆ SetCoG() [2/4]

void SetCoG ( const ignition::math::Vector3d & _center )

Set the center of gravity.

Parameters

[in] _center Center of the gravity.

◆ SetCoG() [3/4]

void SetCoG	(	const double	_cx,
		const double	_cy,
		const double	_cz,
		const double	_rx,
		const double	_ry,
		const double	_rz
	)

Set the center of gravity and rotation offset of inertial coordinate frame relative to Link frame.

Parameters

[in]	_cx	Center offset in x-direction in Link frame
[in]	_cy	Center offset in y-direction in Link frame
[in]	_cz	Center offset in z-direction in Link frame
[in]	_rx	Roll angle offset of inertial coordinate frame.
[in]	_ry	Pitch angle offset of inertial coordinate frame.
[in]	_rz	Yaw angle offset of inertial coordinate frame.

◆ SetCoG() [4/4]

void SetCoG ( const ignition::math::Pose3d & _c )

Set the center of gravity.

Parameters

[in] _c Transform to center of gravity.

◆ SetInertiaMatrix()

void SetInertiaMatrix	(	const double	_ixx,
		const double	_iyy,
		const double	_izz,
		const double	_ixy,
		const double	_ixz,
		const double	iyz
	)

Set the mass matrix.

Parameters

[in]	_ixx	X second moment of inertia (MOI) 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.

◆ SetIXX()

void SetIXX ( const double _v )

Set IXX.

Parameters

[in] _v IXX value

◆ SetIXY()

void SetIXY ( const double _v )

Set IXY.

Parameters

[in] _v IXY value

◆ SetIXZ()

void SetIXZ ( const double _v )

Set IXZ.

Parameters

[in] _v IXZ value

◆ SetIYY()

void SetIYY ( const double _v )

Set IYY.

Parameters

[in] _v IYY value

◆ SetIYZ()

void SetIYZ ( const double _v )

Set IYZ.

Parameters

[in] _v IYZ value

◆ SetIZZ()

void SetIZZ ( const double _v )

Set IZZ.

Parameters

[in] _v IZZ value

◆ SetMass()

void SetMass ( const double _m )

Set the mass.

Parameters

[in] _m Mass value in kilograms.

◆ SetMOI()

void SetMOI ( const ignition::math::Matrix3d & _moi )

Sets Moments of Inertia (MOI) from a Matrix3.

Parameters

[in] _moi Moments of Inertia as a Matrix3

◆ UpdateParameters()

void UpdateParameters ( sdf::ElementPtr _sdf )

update the parameters using new sdf values.

Parameters

[in] _sdf Update values from.

Friends And Related Function Documentation

◆ operator<<

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.

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

Inertial.hh

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Inertial() [1/4]

◆ Inertial() [2/4]

◆ Inertial() [3/4]

◆ Inertial() [4/4]

◆ ~Inertial()

Member Function Documentation

◆ CoG()

◆ Ign()

◆ IXX()

◆ IXY()

◆ IXZ()

◆ IYY()

◆ IYZ()

◆ IZZ()

◆ Load()

◆ Mass()

◆ MOI() [1/2]

◆ MOI() [2/2]

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator+()

◆ operator+=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Pose()

◆ PrincipalMoments()

◆ ProcessMsg()

◆ ProductsOfInertia()

◆ Reset()

◆ Rotate()

◆ SetCoG() [1/4]

◆ SetCoG() [2/4]

◆ SetCoG() [3/4]

◆ SetCoG() [4/4]

◆ SetInertiaMatrix()

◆ SetIXX()

◆ SetIXY()

◆ SetIXZ()

◆ SetIYY()

◆ SetIYZ()

◆ SetIZZ()

◆ SetMass()

◆ SetMOI()

◆ UpdateParameters()

Friends And Related Function Documentation

◆ operator<<