CjrlBody Class Reference

#include <abstract-robot-dynamics/body.hh>

Public Member Functions
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.

Constructor & Destructor Documentation

~CjrlBody()

virtual CjrlBody::~CjrlBody ( )

inlinevirtual

Destructor.

Member Function Documentation

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

Set inertia matrix.

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

Get mass.

mass() [2/2]

virtual void CjrlBody::mass ( double inMass )

pure virtual

Set mass.