iDynTree::RigidBodyInertiaNonLinearParametrization class
#include <iDynTree/InertiaNonLinearParametrization.h>

Public functions

auto getLinkCentroidalTransform() const -> Transform: Get the transform that applied to a quantity expressed in the centroidal frame it express it in the link frame ( link_H_centroidal ).
void fromRigidBodyInertia(const SpatialInertia& inertia): Build the parametrization from a RigidBodyInertia.
void fromInertialParameters(const Vector10& inertialParams): Build the nonlinear parametrization from a vector of 10 inertial parameters.
auto toRigidBodyInertia() const -> SpatialInertia: Convert the parametrization to a RigidBodyInertia class.
auto isPhysicallyConsistent() const -> bool: Check that the mass is positive and the central second moments of mass are nonnegative.
auto asVectorWithRotationAsVec() const -> Vector16: Serialize the nonlinear parametrization as a vector of sixteen elements.
void fromVectorWithRotationAsVec(const Vector16& vec): Build the nonlinear parametrization from a vector of sixteen elements.
auto getGradientWithRotationAsVec() const -> Matrix10x16: Given the mapping between this nonlinear representation and the classical inertia parameters.

double mass
Position com
Rotation link_R_centroidal: Rotation matrix that takes a vector expressed in the centroidal frame (origin in the center of mass, orientation as the principal axis of the 3D inertia at the center of mass).
Vector3 centralSecondMomentOfMass

Given the mapping between this nonlinear representation and the classical inertia parameters.

This function return the gradient between the inertial parameters