Package org.robwork.sdurw_math

Class InertiaMatrixd

java.lang.Object

org.robwork.sdurw_math.InertiaMatrixd

public class InertiaMatrixd
extends java.lang.Object

A 3x3 inertia matrix

Constructor Summary

Constructors

Constructor	Description
InertiaMatrixd()	constructor - where only the diagonal is set
InertiaMatrixd(double i)	constructor - where only the diagonal is set
InertiaMatrixd(double i, double j)	constructor - where only the diagonal is set
InertiaMatrixd(double i, double j, double k)	constructor - where only the diagonal is set
InertiaMatrixd(double r11, double r12, double r13, double r21, double r22, double r23, double r31, double r32, double r33)
InertiaMatrixd(long cPtr, boolean cMemoryOwn)
InertiaMatrixd(EigenMatrix3d r)	Construct an internal matrix from a Eigen::MatrixBase It is the responsibility of the user that 3x3 matrix is indeed an inertia matrix.
InertiaMatrixd(Vector3D i, Vector3D j, Vector3D k)

Method Summary

Modifier and Type	Method	Description
InertiaMatrixd	add(InertiaMatrixd I2)	Calculates the addition between the two InertiaMatrices
void	delete()
Vector3D	diag()	get The diagonal of the Matrix
EigenMatrix3d	e()	Returns reference to the internal 3x3 matrix
boolean	equals(InertiaMatrixd rhs)	Comparison operator. The comparison operator makes a element wise comparison. Returns true only if all elements are equal.
double	get(long row, long column)
static long	getCPtr(InertiaMatrixd obj)
static InertiaMatrixd	makeCuboidInertia(double mass, double x, double y, double z)	calculates the inertia of a cuboid where the reference frame is in the center of the cuboid with
static InertiaMatrixd	makeHollowSphereInertia(double mass, double radi)	Make inertia matrix for a hollow sphere.
static InertiaMatrixd	makeSolidSphereInertia(double mass, double radi)	Make inertia matrix for a solid sphere.
InertiaMatrixd	multiply(Rotation3D bRc)
Vector3D	multiply(Vector3D bVc)	Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
boolean	notEqual(InertiaMatrixd rhs)	Comparison operator. The comparison operator makes a element wise comparison. Returns true if any of the elements are different.
void	set(long row, long column, double d)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

InertiaMatrixd

public InertiaMatrixd(long cPtr,
                      boolean cMemoryOwn)

InertiaMatrixd

public InertiaMatrixd(double r11,
                      double r12,
                      double r13,
                      double r21,
                      double r22,
                      double r23,
                      double r31,
                      double r32,
                      double r33)

InertiaMatrixd

public InertiaMatrixd(Vector3D i,
                      Vector3D j,
                      Vector3D k)

InertiaMatrixd

public InertiaMatrixd(double i,
                      double j,
                      double k)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

j - [in] m(1,1)

k - [in] m(2,2)

InertiaMatrixd

public InertiaMatrixd(double i,
                      double j)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

j - [in] m(1,1)

InertiaMatrixd

public InertiaMatrixd(double i)

constructor - where only the diagonal is set

Parameters:

i - [in] m(0,0)

InertiaMatrixd

public InertiaMatrixd()

constructor - where only the diagonal is set

InertiaMatrixd

public InertiaMatrixd(EigenMatrix3d r)

Construct an internal matrix from a Eigen::MatrixBase
It is the responsibility of the user that 3x3 matrix is indeed an
inertia matrix.

Method Detail

getCPtr

public static long getCPtr(InertiaMatrixd obj)

delete

public void delete()

get

public double get(long row,
                  long column)

set

public void set(long row,
                long column,
                double d)

e

public EigenMatrix3d e()

Returns reference to the internal 3x3 matrix

multiply

public InertiaMatrixd multiply(Rotation3D bRc)

add

public InertiaMatrixd add(InertiaMatrixd I2)

Calculates the addition between the two InertiaMatrices

multiply

public Vector3D multiply(Vector3D bVc)

Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}

Parameters:

bVc - [in] \robabx{b}{c}{\mathbf{v}}

Returns:

\robabx{a}{c}{\mathbf{v}}

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

equals

public boolean equals(InertiaMatrixd rhs)

Comparison operator.

The comparison operator makes a element wise comparison.
Returns true only if all elements are equal.

Parameters:

rhs - [in] InertiaMatrix to compare with

Returns:

True if equal.

notEqual

public boolean notEqual(InertiaMatrixd rhs)

Comparison operator.

The comparison operator makes a element wise comparison.
Returns true if any of the elements are different.

Parameters:

rhs - [in] InertiaMatrix to compare with

Returns:

True if not equal.

makeSolidSphereInertia

public static InertiaMatrixd makeSolidSphereInertia(double mass,
                                                    double radi)

Make inertia matrix for a solid sphere.

Parameters:

mass - [in] mass of solid sphere.

radi - [in] radius of sphere.

Returns:

the inertia matrix.

makeHollowSphereInertia

public static InertiaMatrixd makeHollowSphereInertia(double mass,
                                                     double radi)

Make inertia matrix for a hollow sphere.

Parameters:

mass - [in] mass of hollow sphere.

radi - [in] radius of sphere.

Returns:

the inertia matrix.

makeCuboidInertia

public static InertiaMatrixd makeCuboidInertia(double mass,
                                               double x,
                                               double y,
                                               double z)

calculates the inertia of a cuboid where the reference frame is in the
center of the cuboid with

Parameters:

mass -

x -

y -

z -

Returns:

diag

public Vector3D diag()

get The diagonal of the Matrix

Returns:

Vector3D< T >