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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDLINERTIA_HPP
#define KDLINERTIA_HPP
#include <Eigen/Array>
#include "frames.hpp"
namespace KDL {
using namespace Eigen;
/**
* This class offers the inertia-structure of a body
* An inertia is defined in a certain reference point and a certain reference base.
* The reference point does not have to coincide with the origin of the reference frame.
*/
class Inertia{
public:
/**
* This constructor creates a cartesian space inertia matrix,
* the arguments are the mass and the inertia moments in the cog.
*/
Inertia(double m=0,double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
static inline Inertia Zero(){
return Inertia(0,0,0,0,0,0,0);
};
friend class Rotation;
friend class Frame;
/**
* F = m*a
*/
// Wrench operator* (const AccelerationTwist& acc);
~Inertia();
private:
Matrix<double,6,6,RowMajor> data;
};
}
#endif
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