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  Inertia
 The physical meaning of an inertia is the distribution of a rigid body's mass about a *particular* point. 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 Mat< 2, 2, Mat33 > SpatialMat
typedef Vec< 2, Vec3 > SpatialVec
typedef Row< 2, Row3 > SpatialRow

Functions

Inertia operator+ (const Inertia &l, const Inertia &r)
Inertia operator- (const Inertia &l, const Inertia &r)
Inertia operator* (const Inertia &i, const Real &r)
Inertia operator* (const Real &r, const Inertia &i)
Vec3 operator* (const Inertia &i, const Vec3 &w)
Inertia operator/ (const Inertia &i, const Real &r)
bool operator== (const Inertia &i1, const Inertia &i2)
std::ostream & operator<< (std::ostream &o, const Inertia &)
std::ostream & operator<< (std::ostream &o, const MassProperties &)

Detailed Description

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


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