Link class
#include <iDynTree/Link.h>
Class that represents a link.
Constructors, destructors, conversion operators
- Link()
- Costructor.
Public functions
- auto inertia() -> SpatialInertia&
- Low-level accessor to the link inertia.
- auto inertia() const -> const SpatialInertia&
- Low-level const accessor to the link inertia.
- void setInertia(SpatialInertia& _inertia)
- Set the spatial inertia of the link, expressed in the link reference frame (i.e.
- auto getInertia() const -> const SpatialInertia&
- Get the spatial inertia of the link, expressed in the link reference frame (i.e.
- void setIndex(LinkIndex& _index)
- Set the index of the link.
- auto getIndex() const -> LinkIndex
- Get the index of the link.
Function documentation
void iDynTree::
Set the spatial inertia of the link, expressed in the link reference frame (i.e.
with respect to the link reference frame origin and with the orientation of the link reference frame).
const SpatialInertia& iDynTree::
Get the spatial inertia of the link, expressed in the link reference frame (i.e.
| Returns | a reference to the inertia of the link. |
|---|
with respect to the link reference frame origin and with the orientation of the link reference frame).