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 | Inertia_< P > |
| The physical meaning of an inertia is the distribution of a rigid body's mass about a particular point. More... | |
| class | Gyration_< P > |
| A Gyration matrix is a unit-mass inertia matrix; you can convert it to an Inertia by multiplying it by the actual body mass. More... | |
| class | SpatialInertia_< P > |
| A spatial inertia contains the mass, center of mass point, and inertia matrix for a rigid body. More... | |
| class | 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 | MassProperties |
| 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 > | SpatialVec |
| SpatialVec[0] is the rotational component; [1] is translational. | |
| typedef Vec< 2, Vec< 3, float > > | fSpatialVec |
| typedef Vec< 2, Vec< 3, double > > | dSpatialVec |
| typedef Row< 2, Row3 > | SpatialRow |
| This is the type of a transposed SpatialVec. | |
| typedef Row< 2, Row< 3, float > > | fSpatialRow |
| typedef Row< 2, Row< 3, double > > | dSpatialRow |
| typedef Mat< 2, 2, Mat33 > | SpatialMat |
| This is used for primarily for spatial mass properties. | |
| typedef Mat< 2, 2, Mat < 3, 3, float > > | fSpatialMat |
| typedef Mat< 2, 2, Mat < 3, 3, double > > | dSpatialMat |
| typedef Gyration_< Real > | Gyration |
| A gyration (unit inertia) tensor at default precision. | |
| typedef Gyration_< float > | fGyration |
| A gyration (unit inertia) tensor at float precision. | |
| typedef Gyration_< double > | dGyration |
| A gyration (unit inertia) tensor at double precision. | |
| typedef Inertia_< Real > | Inertia |
| An inertia tensor at default precision. | |
| typedef Inertia_< float > | fInertia |
| An inertia tensor at float precision. | |
| typedef Inertia_< double > | dInertia |
| An inertia tensor at double precision. | |
| typedef SpatialInertia_< Real > | SpatialInertia |
| A spatial (rigid body) inertia matrix at default precision. | |
| typedef SpatialInertia_< float > | fSpatialInertia |
| A spatial (rigid body) inertia matrix at float precision. | |
| typedef SpatialInertia_< double > | dSpatialInertia |
| A spatial (rigid body) inertia matrix at double precision. | |
| typedef ArticulatedInertia_< Real > | ArticulatedInertia |
| An articulated body inertia matrix at default precision. | |
| typedef ArticulatedInertia_ < float > | fArticulatedInertia |
| An articulated body inertia matrix at float precision. | |
| typedef ArticulatedInertia_ < double > | dArticulatedInertia |
| An articulated body inertia matrix at double precision. | |
Functions | |
| std::ostream & | operator<< (std::ostream &o, const MassProperties &) |
These are utility classes for dealing with mass properties, particularly those messy inertias.
1.6.1