#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. |
virtual CjrlBody::~CjrlBody | ( | ) | [inline, virtual] |
Destructor.
virtual const matrix3d& CjrlBody::inertiaMatrix | ( | ) | const [pure virtual] |
Get Intertia matrix expressed in joint local reference frame.
virtual void CjrlBody::inertiaMatrix | ( | const matrix3d & | inInertiaMatrix | ) | [pure virtual] |
Set inertia matrix.
virtual const CjrlJoint* CjrlBody::joint | ( | ) | const [pure virtual] |
Get const pointer to the joint the body is attached to.
virtual const vector3d& CjrlBody::localCenterOfMass | ( | ) | const [pure virtual] |
Get position of center of mass in joint local reference frame.
virtual void CjrlBody::localCenterOfMass | ( | const vector3d & | inlocalCenterOfMass | ) | [pure virtual] |
Set postion of center of mass in joint reference frame.
virtual double CjrlBody::mass | ( | ) | const [pure virtual] |
Get mass.
virtual void CjrlBody::mass | ( | double | inMass | ) | [pure virtual] |
Set mass.