sofa::defaulttype::SolidTypes< R >::RigidInertia Class Reference

#include <SolidTypes.h>

Collaboration diagram for sofa::defaulttype::SolidTypes< R >::RigidInertia:

[legend]

Public Member Functions
	RigidInertia ()
	Inertia matrix around the mass center.
	RigidInertia (Real m, const Vec &h, const Mat &I)
SpatialVector	operator* (const SpatialVector &v) const
RigidInertia	operator* (const Transform &t) const
Data Fields
Real	m
	mass
Vec	h
	position of the mass center in the local reference frame
Mat	I
Friends
std::ostream &	operator<< (std::ostream &out, const RigidInertia &r)

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Detailed Description

template<class R = float>
class sofa::defaulttype::SolidTypes< R >::RigidInertia

Definition at line 281 of file SolidTypes.h.

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Constructor & Destructor Documentation

template<class R >

sofa::defaulttype::SolidTypes< R >::RigidInertia::RigidInertia

(

)

[inline]

Inertia matrix around the mass center.

Definition at line 413 of file SolidTypes.inl.

Referenced by sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*().

template<class R >

sofa::defaulttype::SolidTypes< R >::RigidInertia::RigidInertia	(	Real	m,
		const Vec &	h,
		const Mat &	I
	)			[inline]

Definition at line 417 of file SolidTypes.inl.

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Member Function Documentation

template<class R >

SolidTypes< R >::RigidInertia sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*

(

const Transform &

t

)

const [inline]

Definition at line 430 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::crossM(), sofa::defaulttype::SolidTypes< R >::Transform::getOriginOfParentInChild(), sofa::defaulttype::SolidTypes< R >::Transform::getRotationMatrix(), sofa::defaulttype::SolidTypes< R >::RigidInertia::h, sofa::defaulttype::SolidTypes< R >::RigidInertia::I, sofa::defaulttype::SolidTypes< R >::RigidInertia::m, sofa::defaulttype::SolidTypes< R >::RigidInertia::RigidInertia(), and sofa::defaulttype::Mat< L, C, real >::transposed().

template<class R >

SolidTypes< R >::SpatialVector sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*

(

const SpatialVector &

v

)

const [inline]

Definition at line 421 of file SolidTypes.inl.

References sofa::defaulttype::cross(), sofa::defaulttype::SolidTypes< R >::SpatialVector::freeVec, sofa::defaulttype::SolidTypes< R >::RigidInertia::h, sofa::defaulttype::SolidTypes< R >::RigidInertia::I, sofa::defaulttype::SolidTypes< R >::SpatialVector::lineVec, sofa::defaulttype::SolidTypes< R >::RigidInertia::m, and sofa::defaulttype::SolidTypes< R >::mult().

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Friends And Related Function Documentation

template<class R = float>

std::ostream& operator<<	(	std::ostream &	out,
		const RigidInertia &	r
	)			[friend]

Definition at line 291 of file SolidTypes.h.

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Field Documentation

template<class R = float>

Vec sofa::defaulttype::SolidTypes< R >::RigidInertia::h

position of the mass center in the local reference frame

Definition at line 285 of file SolidTypes.h.

Referenced by sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*(), and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator=().

template<class R = float>

Mat sofa::defaulttype::SolidTypes< R >::RigidInertia::I

Definition at line 286 of file SolidTypes.h.

Referenced by sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*(), and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator=().

template<class R = float>

Real sofa::defaulttype::SolidTypes< R >::RigidInertia::m

mass

Definition at line 284 of file SolidTypes.h.

Referenced by sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*(), and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator=().

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The documentation for this class was generated from the following files:

• framework/sofa/defaulttype/SolidTypes.h
• framework/sofa/defaulttype/SolidTypes.inl