dynamicsJRLJapan::DynamicBody Class Reference

This class implements a body. More...

#include <jrl/dynamics/dynamicbody.hh>

Inheritance diagram for dynamicsJRLJapan::DynamicBody:
Collaboration diagram for dynamicsJRLJapan::DynamicBody:

Public Member Functions

virtual const vector3dlocalCenterOfMass () const
 Get position of center of mass in joint local reference frame. More...
 
virtual void localCenterOfMass (const vector3d &inlocalCenterOfMass)
 Set postion of center of mass in joint reference frame. More...
 
virtual const matrix3dinertiaMatrix () const
 Get Intertia matrix expressed in joint local reference frame. More...
 
virtual void inertiaMatrix (const matrix3d &inInertiaMatrix)
 Set inertia matrix. More...
 
virtual double mass () const
 
Get mass. More...
 
virtual void mass (double inMass)
 
Set mass. More...
 
virtual const CjrlJointjoint () const
 Get const pointer to the joint the body is attached to. More...
 
Constructor and destructor
virtual ~DynamicBody ()
 
 DynamicBody ()
 
 DynamicBody (const DynamicBody &inBody)
 
- Public Member Functions inherited from CjrlBody
virtual ~CjrlBody ()
 

Public Attributes

boost::shared_ptr< CjrlBodym_privateObj
 

Detailed Description

This class implements a body.

See CjrlJoint for documentation.

Constructor & Destructor Documentation

◆ ~DynamicBody()

virtual dynamicsJRLJapan::DynamicBody::~DynamicBody ( )
inlinevirtual

◆ DynamicBody() [1/2]

dynamicsJRLJapan::DynamicBody::DynamicBody ( )

◆ DynamicBody() [2/2]

dynamicsJRLJapan::DynamicBody::DynamicBody ( const DynamicBody inBody)

Member Function Documentation

◆ inertiaMatrix() [1/2]

virtual const matrix3d& dynamicsJRLJapan::DynamicBody::inertiaMatrix ( ) const
virtual

Get Intertia matrix expressed in joint local reference frame.

Implements CjrlBody.

◆ inertiaMatrix() [2/2]

virtual void dynamicsJRLJapan::DynamicBody::inertiaMatrix ( const matrix3d inInertiaMatrix)
virtual

Set inertia matrix.

Implements CjrlBody.

◆ joint()

virtual const CjrlJoint* dynamicsJRLJapan::DynamicBody::joint ( ) const
virtual

Get const pointer to the joint the body is attached to.

Implements CjrlBody.

◆ localCenterOfMass() [1/2]

virtual const vector3d& dynamicsJRLJapan::DynamicBody::localCenterOfMass ( ) const
virtual

Get position of center of mass in joint local reference frame.

Implements CjrlBody.

◆ localCenterOfMass() [2/2]

virtual void dynamicsJRLJapan::DynamicBody::localCenterOfMass ( const vector3d inlocalCenterOfMass)
virtual

Set postion of center of mass in joint reference frame.

Implements CjrlBody.

◆ mass() [1/2]

virtual double dynamicsJRLJapan::DynamicBody::mass ( ) const
virtual


Get mass.

Implements CjrlBody.

◆ mass() [2/2]

virtual void dynamicsJRLJapan::DynamicBody::mass ( double  inMass)
virtual


Set mass.

Implements CjrlBody.

Member Data Documentation

◆ m_privateObj

boost::shared_ptr<CjrlBody> dynamicsJRLJapan::DynamicBody::m_privateObj