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Inertial.hh
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2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _INERTIAL_HH_
18 #define _INERTIAL_HH_
19 
20 #include <string>
21 
22 #include <sdf/sdf.hh>
23 
24 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/math/Vector3.hh"
27 #include "gazebo/math/Matrix3.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
38  class Inertial
39  {
41  public: Inertial();
42 
45  public: explicit Inertial(double _mass);
46 
49  public: Inertial(const Inertial &_inertial);
50 
52  public: virtual ~Inertial();
53 
56  public: void Load(sdf::ElementPtr _sdf);
57 
60  public: void UpdateParameters(sdf::ElementPtr _sdf);
61 
63  public: void Reset();
64 
66  public: void SetMass(double m);
67 
69  public: double GetMass() const;
70 
78  public: void SetInertiaMatrix(double _ixx, double _iyy, double _izz,
79  double _ixy, double _ixz, double iyz);
80 
85  public: void SetCoG(double _cx, double _cy, double _cz);
86 
89  public: void SetCoG(const math::Vector3 &_center);
90 
99  public: void SetCoG(double _cx, double _cy, double _cz,
100  double _rx, double _ry, double _rz);
101 
104  public: void SetCoG(const math::Pose &_c);
105 
108  public: inline const math::Vector3 &GetCoG() const
109  {
110  return this->cog.pos;
111  }
112 
116  public: inline const math::Pose GetPose() const
117  {
118  return math::Pose(this->cog);
119  }
120 
123  public: math::Vector3 GetPrincipalMoments() const;
124 
127  public: math::Vector3 GetProductsofInertia() const;
128 
131  public: double GetIXX() const;
132 
135  public: double GetIYY() const;
136 
139  public: double GetIZZ() const;
140 
143  public: double GetIXY() const;
144 
147  public: double GetIXZ() const;
148 
151  public: double GetIYZ() const;
152 
155  public: void SetIXX(double _v);
156 
159  public: void SetIYY(double _v);
160 
163  public: void SetIZZ(double _v);
164 
167  public: void SetIXY(double _v);
168 
171  public: void SetIXZ(double _v);
172 
175  public: void SetIYZ(double _v);
176 
179  public: void Rotate(const math::Quaternion &_rot);
180 
184  public: Inertial &operator=(const Inertial &_inertial);
185 
193  public: Inertial operator+(const Inertial &_inertial) const;
194 
198  public: const Inertial &operator+=(const Inertial &_inertial);
199 
202  public: void ProcessMsg(const msgs::Inertial &_msg);
203 
212  public: math::Matrix3 GetMOI(const math::Pose &_pose)
213  const;
214 
220  public: Inertial GetInertial(const math::Pose &_frameOffset) const;
221 
225  public: friend std::ostream &operator<<(std::ostream &_out,
226  const gazebo::physics::Inertial &_inertial)
227  {
228  _out << "Mass[" << _inertial.mass << "] CoG["
229  << _inertial.cog << "]\n";
230  _out << "IXX[" << _inertial.principals.x << "] "
231  << "IYY[" << _inertial.principals.y << "] "
232  << "IZZ[" << _inertial.principals.z << "]\n";
233  _out << "IXY[" << _inertial.products.x << "] "
234  << "IXZ[" << _inertial.products.y << "] "
235  << "IYZ[" << _inertial.products.z << "]\n";
236  return _out;
237  }
238 
241  public: math::Matrix3 GetMOI() const;
242 
245  public: void SetMOI(const math::Matrix3 &_moi);
246 
248  private: double mass;
249 
252  private: math::Pose cog;
253 
256  private: math::Vector3 principals;
257 
261  private: math::Vector3 products;
262 
264  private: sdf::ElementPtr sdf;
265 
268  private: static sdf::ElementPtr sdfInertial;
269  };
271  }
272 }
273 #endif