CjrlBody Class Reference

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

List of all members.

Public Member Functions

virtual const vector3dlocalCenterOfMass () 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 matrix3dinertiaMatrix () 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 CjrlJointjoint () const =0
 Get const pointer to the joint the body is attached to.
virtual ~CjrlBody ()
 Destructor.

Constructor & Destructor Documentation

virtual CjrlBody::~CjrlBody ( ) [inline, virtual]

Destructor.


Member Function Documentation

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.