CjrlBody Class Referenceabstract

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

Public Member Functions

virtual const vector3dlocalCenterOfMass () const =0
 Get position of center of mass in joint local reference frame. More...
 
virtual void localCenterOfMass (const vector3d &inlocalCenterOfMass)=0
 Set postion of center of mass in joint reference frame. More...
 
virtual const matrix3dinertiaMatrix () const =0
 Get Intertia matrix expressed in joint local reference frame. More...
 
virtual void inertiaMatrix (const matrix3d &inInertiaMatrix)=0
 Set inertia matrix. More...
 
virtual double mass () const =0
 Get mass. More...
 
virtual void mass (double inMass)=0
 Set mass. More...
 
virtual const CjrlJointjoint () const =0
 Get const pointer to the joint the body is attached to. More...
 
virtual ~CjrlBody ()
 Destructor. More...
 

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.