#include <abstract-robot-dynamics/body.hh>
virtual CjrlBody::~CjrlBody |
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inlinevirtual |
virtual const matrix3d& CjrlBody::inertiaMatrix |
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const |
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pure virtual |
Get Intertia matrix expressed in joint local reference frame.
virtual void CjrlBody::inertiaMatrix |
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const matrix3d & |
inInertiaMatrix | ) |
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pure virtual |
virtual const CjrlJoint* CjrlBody::joint |
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const |
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pure virtual |
Get const pointer to the joint the body is attached to.
virtual const vector3d& CjrlBody::localCenterOfMass |
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const |
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pure virtual |
Get position of center of mass in joint local reference frame.
virtual void CjrlBody::localCenterOfMass |
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const vector3d & |
inlocalCenterOfMass | ) |
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pure virtual |
Set postion of center of mass in joint reference frame.
virtual double CjrlBody::mass |
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const |
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pure virtual |
virtual void CjrlBody::mass |
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double |
inMass | ) |
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pure virtual |