Class Inertia

Class Documentation

class Inertia

struct to keep inertia parameters of a link.

Public Functions

inline Inertia(double ixx = 0.0, double iyy = 0.0, double izz = 0.0, double ixy = 0.0, double ixz = 0.0, double iyz = 0.0, double mass = 0.0)

Constructor to initialize an ‘Inertia’ object with specified parameters.

Parameters:

  • ixx – [in] Moment of inertia around X axis (default: 0.0)

  • iyy – [in] Moment of inertia around Y axis (default: 0.0)

  • izz – [in] Moment of inertia around Z axis (default: 0.0)

  • ixy – [in] Product of inertia in XY plane (default: 0.0)

  • ixz – [in] Product of inertia in XZ plane (default: 0.0)

  • iyz – [in] Product of inertia in YZ plane (default: 0.0)

  • mass – [in] Mass of the link (default: 0.0)

Public Members

double ixx

Moment of inertia around X axis.

double iyy

Moment of inertia around Y axis.

double izz

Moment of inertia around Z axis.

double ixy

Product of inertia in XY plane.

double ixz

Product of inertia in XZ plane.

double iyz

Product of inertia in YZ plane.

double mass

Mass of the link.