RotationalInertia class
#include <iDynTree/RotationalInertia.h>
Class providing the coordinates for a 3d inertia matrix.
We use a parent Matrix3x3 for storage of the rotational inertia matrix: given that the inertia matrix is a 3x3 symmetric matrix, the ordering (row order or column order) is not influencing the storage of the matrix.
Base classes
-
template<unsigned int nRows, unsigned int nCols>class MatrixFixSize<3, 3>
- Class providing a simple form of matrix with dynamic size.
Public static functions
- static auto Zero() -> RotationalInertia
- Initializer helper: return a zero matrix.
Constructors, destructors, conversion operators
- RotationalInertia()
- Default constructor.
- RotationalInertia(const double* in_data, const unsigned int in_rows, const unsigned int in_cols)
- RotationalInertia(const RotationalInertia& other)
Public functions
- auto operator=(const RotationalInertia& other) -> RotationalInertia&
Function documentation
iDynTree::
Default constructor.
The data is not reset to zero for perfomance reason. Please initialize the data in the vector before any use.