Public Types
enum	Param { MASS = 0, COM_X, COM_Y, COM_Z, I_XX, I_YY, I_ZZ, I_XY, I_XZ, I_YZ }
	Enumeration for minimal inertia parameters.

Public Member Functions
	Inertia (double _mass=1, const Eigen::Vector3d &_com=Eigen::Vector3d::Zero(), const Eigen::Matrix3d &_momentOfInertia=Eigen::Matrix3d::Identity())

	Inertia (const Eigen::Matrix6d &_spatialInertiaTensor)

	Inertia (double _mass, double _comX, double _comY, double _comZ, double _Ixx, double _Iyy, double _Izz, double _Ixy, double _Ixz, double _Iyz)

void	setParameter (Param _param, double _value)
	Set an inertial parameter.

double	getParameter (Param _param) const
	Get an inertial parameter.

void	setMass (double _mass)
	Set the mass.

double	getMass () const
	Get the mass.

void	setLocalCOM (const Eigen::Vector3d &_com)
	Set the center of mass with respect to the Body-fixed frame.

const Eigen::Vector3d &	getLocalCOM () const
	Get the center of mass with respect to the Body-fixed frame.

void	setMoment (const Eigen::Matrix3d &_moment)
	Set the moment of inertia (about the center of mass). More...

void	setMoment (double _Ixx, double _Iyy, double _Izz, double _Ixy, double _Ixz, double _Iyz)
	Set the moment of inertia (about the center of mass)

Eigen::Matrix3d	getMoment () const
	Get the moment of inertia.

void	setSpatialTensor (const Eigen::Matrix6d &_spatial)
	Set the spatial tensor.

const Eigen::Matrix6d &	getSpatialTensor () const
	Get the spatial inertia tensor.

bool	verify (bool _printWarnings=true, double _tolerance=1e-8) const
	Returns true iff this Inertia object is physically valid.

bool	operator== (const Inertia &other) const
	Check for equality.

Static Public Member Functions
static bool	verifyMoment (const Eigen::Matrix3d &_moment, bool _printWarnings=true, double _tolerance=1e-8)
	Returns true iff _moment is a physically valid moment of inertia.

static bool	verifySpatialTensor (const Eigen::Matrix6d &_spatial, bool _printWarnings=true, double _tolerance=1e-8)
	Returns true iff _spatial is a physically valid spatial inertia tensor.

Protected Member Functions
void	computeSpatialTensor ()
	Compute the spatial tensor based on the inertial parameters.

void	computeParameters ()
	Compute the inertial parameters from the spatial tensor.

Protected Attributes
double	mMass
	Overall mass.

Eigen::Vector3d	mCenterOfMass
	Center of mass in the Body frame.

std::array< double, 6 >	mMoment
	The six parameters of the moment of inertia located at the center of mass.

Eigen::Matrix6d	mSpatialTensor
	Cache for generalized spatial inertia of the Body.

Member Function Documentation

◆ setMoment()

void dart::dynamics::Inertia::setMoment ( const Eigen::Matrix3d & _moment )

Set the moment of inertia (about the center of mass).

Note that only the top-right corner of the matrix will be used, because a well-formed inertia matrix is always symmetric.

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