MassProperties.h File Reference

These are utility classes for dealing with mass properties, particularly those messy inertias. More...

#include "SimTKcommon/Scalar.h"
#include "SimTKcommon/SmallMatrix.h"
#include "SimTKcommon/Orientation.h"
#include <iostream>

Go to the source code of this file.

Classes
class	SimTK::Inertia_< P >
	The physical meaning of an inertia is the distribution of a rigid body's mass about a particular point. More...
class	SimTK::UnitInertia_< P >
	A UnitInertia matrix is a unit-mass inertia matrix; you can convert it to an Inertia by multiplying it by the actual body mass. More...
class	SimTK::SpatialInertia_< P >
	A spatial inertia contains the mass, center of mass point, and inertia matrix for a rigid body. More...
class	SimTK::ArticulatedInertia_< P >
	An articulated body inertia (ABI) matrix P(q) contains the spatial inertia properties that a body appears to have when it is the free base body of an articulated multibody tree in a given configuration q. More...
class	SimTK::MassProperties_< P >
	This class contains the mass, center of mass, and inertia of a rigid body B. More...
Namespaces
namespace	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.
Typedefs
typedef Vec< 2, Vec3 >	SimTK::SpatialVec
	Spatial vectors are used for (rotation,translation) quantities and consist of a pair of Vec3 objects, arranged as a 2-vector of 3-vectors.
typedef Vec< 2, Vec< 3, float > >	SimTK::fSpatialVec
	A SpatialVec that is always single (float) precision regardless of the compiled-in precision of Real.
typedef Vec< 2, Vec< 3, double > >	SimTK::dSpatialVec
	A SpatialVec that is always double precision regardless of the compiled-in precision of Real.
typedef Row< 2, Row3 >	SimTK::SpatialRow
	This is the type of a transposed SpatialVec; it does not usually appear explicitly in user programs.
typedef Row< 2, Row< 3, float > >	SimTK::fSpatialRow
	A SpatialRow that is always single (float) precision regardless of the compiled-in precision of Real.
typedef Row< 2, Row< 3, double > >	SimTK::dSpatialRow
	A SpatialRow that is always double precision regardless of the compiled-in precision of Real.
typedef Mat< 2, 2, Mat33 >	SimTK::SpatialMat
	Spatial matrices are used to hold 6x6 matrices that are best viewed as 2x2 matrices of 3x3 matrices; most commonly for spatial and articulated body inertias and spatial shift matrices.
typedef Mat< 2, 2, Mat < 3, 3, float > >	SimTK::fSpatialMat
	A SpatialMat that is always single (float) precision regardless of the compiled-in precision of Real.
typedef Mat< 2, 2, Mat < 3, 3, double > >	SimTK::dSpatialMat
	A SpatialMat that is always double precision regardless of the compiled-in precision of Real.
typedef UnitInertia_< Real >	SimTK::UnitInertia
	A unit inertia (gyration) tensor at default precision.
typedef UnitInertia_< float >	SimTK::fUnitInertia
	A unit inertia (gyration) tensor at float precision.
typedef UnitInertia_< double >	SimTK::dUnitInertia
	A unit inertia (gyration) tensor at double precision.
typedef Inertia_< Real >	SimTK::Inertia
	An inertia tensor at default precision.
typedef Inertia_< float >	SimTK::fInertia
	An inertia tensor at float precision.
typedef Inertia_< double >	SimTK::dInertia
	An inertia tensor at double precision.
typedef MassProperties_< Real >	SimTK::MassProperties
	Rigid body mass properties at default precision.
typedef MassProperties_< float >	SimTK::fMassProperties
	Rigid body mass properties at float precision.
typedef MassProperties_< double >	SimTK::dMassProperties
	Rigid body mass properties at double precision.
typedef SpatialInertia_< Real >	SimTK::SpatialInertia
	A spatial (rigid body) inertia matrix at default precision.
typedef SpatialInertia_< float >	SimTK::fSpatialInertia
	A spatial (rigid body) inertia matrix at float precision.
typedef SpatialInertia_< double >	SimTK::dSpatialInertia
	A spatial (rigid body) inertia matrix at double precision.
typedef ArticulatedInertia_< Real >	SimTK::ArticulatedInertia
	An articulated body inertia matrix at default precision.
typedef ArticulatedInertia_ < float >	SimTK::fArticulatedInertia
	An articulated body inertia matrix at float precision.
typedef ArticulatedInertia_ < double >	SimTK::dArticulatedInertia
	An articulated body inertia matrix at double precision.
typedef UnitInertia	SimTK::Gyration
	For backwards compatibility only; use UnitInertia instead.
Functions
template<class P >
static std::ostream &	SimTK::operator<< (std::ostream &o, const MassProperties_< P > &mp)
	Output a human-readable representation of a MassProperties object to the given output stream.

---

Detailed Description

These are utility classes for dealing with mass properties, particularly those messy inertias.