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