Inertial Class Reference

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...
math::Vector3	GetCoG () const GAZEBO_DEPRECATED(8.0)
	Get the center of gravity. More...
Inertial	GetInertial (const math::Pose &_frameOffset) const GAZEBO_DEPRECATED(8.0)
	Get equivalent Inertia values with the Link frame offset, while holding the Pose of CoG constant in the world frame. More...
double	GetIXX () const GAZEBO_DEPRECATED(8.0)
	Get IXX. More...
double	GetIXY () const GAZEBO_DEPRECATED(8.0)
	Get IXY. More...
double	GetIXZ () const GAZEBO_DEPRECATED(8.0)
	Get IXZ. More...
double	GetIYY () const GAZEBO_DEPRECATED(8.0)
	Get IYY. More...
double	GetIYZ () const GAZEBO_DEPRECATED(8.0)
	Get IYZ. More...
double	GetIZZ () const GAZEBO_DEPRECATED(8.0)
	Get IZZ. More...
double	GetMass () const GAZEBO_DEPRECATED(8.0)
	Get the mass. More...
math::Matrix3	GetMOI (const math::Pose &_pose) const GAZEBO_DEPRECATED(8.0)
	Get the equivalent inertia from a point in local Link frame If you specify GetMOI(this->GetPose()), you should get back the Moment of Inertia (MOI) exactly as specified in the SDF. More...
math::Matrix3	GetMOI () const GAZEBO_DEPRECATED(8.0)
	returns Moments of Inertia as a Matrix3 More...
const math::Pose	GetPose () const GAZEBO_DEPRECATED(8.0)
	Get the pose about which the mass and inertia matrix is specified in the Link frame. More...
math::Vector3	GetPrincipalMoments () const GAZEBO_DEPRECATED(8.0)
	Get the principal moments of inertia (Ixx, Iyy, Izz). More...
math::Vector3	GetProductsofInertia () const GAZEBO_DEPRECATED(8.0)
	Get the products of inertia (Ixy, Ixz, Iyz). 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 math::Quaternion &_rot) GAZEBO_DEPRECATED(8.0)
	Rotate this mass. 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 math::Vector3 &_center) GAZEBO_DEPRECATED(8.0)
	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 math::Pose &_c) GAZEBO_DEPRECATED(8.0)
	Set the center of gravity. 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 math::Matrix3 &_moi) GAZEBO_DEPRECATED(8.0)
	Sets Moments of Inertia (MOI) from a Matrix3. 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

(

)

Default Constructor.

Inertial ( const double  _mass )

explicit

Constructor.

Parameters

[in]

_mass

Mass value in kg if using metric.

Inertial

(

const ignition::math::Inertiald &

_inertial

)

Constructor from ignition::math::Inertial.

Parameters

[in]

_inertial

Ignition inertial object to copy.

Inertial

(

const Inertial &

_inertial

)

Copy constructor.

Parameters

[in]

_inertial

Inertial element to copy

virtual ~Inertial ( )

virtual

Destructor.

Member Function Documentation

const ignition::math::Vector3d& CoG

(

)

const

Get the center of gravity.

Returns

The center of gravity.

math::Vector3 GetCoG

(

)

const

Get the center of gravity.

Returns

The center of gravity.

Deprecated:

See CoG() const

Inertial GetInertial

(

const math::Pose &

_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.

Deprecated:

See operator()(const ignition::math::Pose3d &) const

double GetIXX

(

)

const

Get IXX.

Returns

IXX value

Deprecated:

See IXX() const

double GetIXY

(

)

const

Get IXY.

Returns

IXY value

Deprecated:

See IXY() const

double GetIXZ

(

)

const

Get IXZ.

Returns

IXZ value

Deprecated:

See IXZ() const

double GetIYY

(

)

const

Get IYY.

Returns

IYY value

Deprecated:

See IYY() const

double GetIYZ

(

)

const

Get IYZ.

Returns

IYZ value

Deprecated:

See IYZ() const

double GetIZZ

(

)

const

Get IZZ.

Returns

IZZ value

Deprecated:

See IZZ() const

double GetMass

(

)

const

Get the mass.

Deprecated:

See Mass() const

math::Matrix3 GetMOI

(

const math::Pose &

_pose

)

const

Get the equivalent inertia from a point in local Link frame If you specify GetMOI(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

Deprecated:

See MOI(const ignition::math::Pose3d &) const

math::Matrix3 GetMOI

(

)

const

returns Moments of Inertia as a Matrix3

Returns

Moments of Inertia as a Matrix3

Deprecated:

See MOI() const

const math::Pose GetPose

(

)

const

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

Returns

The inertial pose.

Deprecated:

See Pose() const

math::Vector3 GetPrincipalMoments

(

)

const

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

Returns

The principal moments.

Deprecated:

See PrincipalMoments() const

math::Vector3 GetProductsofInertia

(

)

const

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

Returns

The products of inertia.

Deprecated:

See ProductsOfInertia() const

ignition::math::Inertiald Ign

(

)

const

Return copy of Inertial in ignition format.

double IXX

(

)

const

Get IXX.

Returns

IXX value

double IXY

(

)

const

Get IXY.

Returns

IXY value

double IXZ

(

)

const

Get IXZ.

Returns

IXZ value

double IYY

(

)

const

Get IYY.

Returns

IYY value

double IYZ

(

)

const

Get IYZ.

Returns

IYZ value

double IZZ

(

)

const

Get IZZ.

Returns

IZZ value

void Load

(

sdf::ElementPtr

_sdf

)

Load from SDF values.

Parameters

[in]

_sdf

SDF value to load from.

double Mass

(

)

const

Get the mass.

Returns

The mass in kilograms

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

ignition::math::Matrix3d MOI

(

)

const

returns Moments of Inertia as a Matrix3

Returns

Moments of Inertia as a Matrix3

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.

Deprecated:

See operator()(const ignition::math::Pose3d &) const

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.

Deprecated:

See operator()(const ignition::math::Pose3d &) const

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.

const Inertial& operator+=

(

const Inertial &

_inertial

)

Addition equal operator.

Parameters

[in]

_inertial

Inertial to add.

Returns

Reference to this object.

Inertial& operator=

(

const Inertial &

_inertial

)

Equal operator.

Parameters

[in]

_inertial

Inertial to copy.

Returns

Reference to this object.

Inertial& operator=

(

const ignition::math::Inertiald &

_inertial

)

Equal operator.

Parameters

[in]

_inertial

Ignition inertial to copy.

Returns

Reference to this object.

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.

const ignition::math::Vector3d& PrincipalMoments

(

)

const

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

Returns

The principal moments.

void ProcessMsg

(

const msgs::Inertial &

_msg

)

Update parameters from a message.

Parameters

[in]

_msg

Message to read

const ignition::math::Vector3d& ProductsOfInertia

(

)

const

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

Returns

The products of inertia.

void Reset

(

)

Reset all the mass properties.

void Rotate

(

const math::Quaternion &

_rot

)

Rotate this mass.

Parameters

[in]

_rot

Rotation amount.

Deprecated:

See version that accepts ignition::math parameters.

void Rotate

(

const ignition::math::Quaterniond &

_rot

)

Rotate this mass.

Parameters

[in]

_rot

Rotation amount.

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.

void SetCoG

(

const math::Vector3 &

_center

)

Set the center of gravity.

Parameters

[in]

_center

Center of the gravity.

Deprecated:

See version that accepts ignition::math parameters.

void SetCoG

(

const ignition::math::Vector3d &

_center

)

Set the center of gravity.

Parameters

[in]

_center

Center of the gravity.

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.

void SetCoG

(

const math::Pose &

_c

)

Set the center of gravity.

Parameters

[in]

_c

Transform to center of gravity.

Deprecated:

See version that accepts ignition::math parameters.

void SetCoG

(

const ignition::math::Pose3d &

_c

)

Set the center of gravity.

Parameters

[in]

_c

Transform to center of gravity.

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.

void SetIXX

(

const double

_v

)

Set IXX.

Parameters

[in]

_v

IXX value

void SetIXY

(

const double

_v

)

Set IXY.

Parameters

[in]

_v

IXY value

void SetIXZ

(

const double

_v

)

Set IXZ.

Parameters

[in]

_v

IXZ value

void SetIYY

(

const double

_v

)

Set IYY.

Parameters

[in]

_v

IYY value

void SetIYZ

(

const double

_v

)

Set IYZ.

Parameters

[in]

_v

IYZ value

void SetIZZ

(

const double

_v

)

Set IZZ.

Parameters

[in]

_v

IZZ value

void SetMass

(

const double

_m

)

Set the mass.

Parameters

[in]

_m

Mass value in kilograms.

void SetMOI

(

const math::Matrix3 &

_moi

)

Sets Moments of Inertia (MOI) from a Matrix3.

Parameters

[in]

Moments

of Inertia as a Matrix3

Deprecated:

See version that accepts ignition math parameters

void SetMOI

(

const ignition::math::Matrix3d &

_moi

)

Sets Moments of Inertia (MOI) from a Matrix3.

Parameters

[in]

_moi

Moments of Inertia as a Matrix3

void 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.

---

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

• Inertial.hh