This class implements a body. More...
#include <jrl/dynamics/dynamicbody.hh>
Public Member Functions | |
virtual const vector3d & | localCenterOfMass () 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 matrix3d & | inertiaMatrix () 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 CjrlJoint * | joint () const |
Get const pointer to the joint the body is attached to. More... | |
Constructor and destructor | |
virtual | ~DynamicBody () |
DynamicBody () | |
DynamicBody (const DynamicBody &inBody) | |
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virtual | ~CjrlBody () |
Public Attributes | |
boost::shared_ptr< CjrlBody > | m_privateObj |
This class implements a body.
See CjrlJoint for documentation.
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inlinevirtual |
dynamicsJRLJapan::DynamicBody::DynamicBody | ( | ) |
dynamicsJRLJapan::DynamicBody::DynamicBody | ( | const DynamicBody & | inBody | ) |
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virtual |
Get Intertia matrix expressed in joint local reference frame.
Implements CjrlBody.
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Set inertia matrix.
Implements CjrlBody.
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Get const pointer to the joint the body is attached to.
Implements CjrlBody.
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virtual |
Get position of center of mass in joint local reference frame.
Implements CjrlBody.
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virtual |
Set postion of center of mass in joint reference frame.
Implements CjrlBody.
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Get mass.
Implements CjrlBody.
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Set mass.
Implements CjrlBody.
boost::shared_ptr<CjrlBody> dynamicsJRLJapan::DynamicBody::m_privateObj |