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

Public Attributes
boost::shared_ptr< CjrlBody >	m_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

(

)

Referenced by DynamicBody().

DynamicBody() [2/2]

dynamicsJRLJapan::DynamicBody::DynamicBody

(

const DynamicBody &

inBody

)

References DynamicBody().

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