#include <abstract-robot-dynamics/body.hh>
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| virtual const vector3d & | localCenterOfMass () const =0 |
| | Get position of center of mass in joint local reference frame.
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| virtual void | localCenterOfMass (const vector3d &inlocalCenterOfMass)=0 |
| | Set postion of center of mass in joint reference frame.
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| virtual const matrix3d & | inertiaMatrix () const =0 |
| | Get Intertia matrix expressed in joint local reference frame.
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| virtual void | inertiaMatrix (const matrix3d &inInertiaMatrix)=0 |
| | Set inertia matrix.
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| virtual double | mass () const =0 |
| | Get mass.
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| virtual void | mass (double inMass)=0 |
| | Set mass.
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| virtual const CjrlJoint * | joint () const =0 |
| | Get const pointer to the joint the body is attached to.
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| virtual | ~CjrlBody () |
| | Destructor.
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◆ ~CjrlBody()
| virtual CjrlBody::~CjrlBody |
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| ) |
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inlinevirtual |
◆ inertiaMatrix() [1/2]
| 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.
◆ inertiaMatrix() [2/2]
| virtual void CjrlBody::inertiaMatrix |
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const matrix3d & |
inInertiaMatrix | ) |
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pure virtual |
◆ joint()
| 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.
◆ localCenterOfMass() [1/2]
| 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.
◆ localCenterOfMass() [2/2]
| 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.
◆ mass() [1/2]
| virtual double CjrlBody::mass |
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const |
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pure virtual |
◆ mass() [2/2]
| virtual void CjrlBody::mass |
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double |
inMass | ) |
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pure virtual |