libkido-dev 0.1.0+dfsg-2build9 / usr / include / kido / dynamics / Inertia.hpp

This file is indexed.

/usr/include/kido/dynamics/Inertia.hpp is in libkido-dev 0.1.0+dfsg-2build9.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below. 

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
/*
 * Copyright (c) 2015, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Michael X. Grey <mxgrey@gatech.edu>
 *
 * Georgia Tech Graphics Lab and Humanoid Robotics Lab
 *
 * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
 * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef KIDO_DYNAMICS_INERTIA_HPP_
#define KIDO_DYNAMICS_INERTIA_HPP_

#include <array>

#include "kido/math/MathTypes.hpp"

namespace kido {
namespace dynamics {

class Inertia
{
public:

  /// Enumeration for minimal inertia parameters
  enum Param {

    // Overall mass
    MASS = 0,

    // Center of mass components
    COM_X, COM_Y, COM_Z,

    // Moment of inertia components
    I_XX, I_YY, I_ZZ,
    I_XY, I_XZ, I_YZ

  };

  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);

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

  /// Get an inertial parameter
  double getParameter(Param _param) const;

  /// Set the mass
  void setMass(double _mass);

  /// Get the mass
  double getMass() const;

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

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

  /// 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.
  void setMoment(const Eigen::Matrix3d& _moment);

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

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

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

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

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

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

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

protected:

  /// Compute the spatial tensor based on the inertial parameters
  void computeSpatialTensor();

  /// Compute the inertial parameters from the spatial tensor
  void computeParameters();

  /// Overall mass
  double mMass;

  /// Center of mass in the Body frame
  Eigen::Vector3d mCenterOfMass;

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

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

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace dynamics
} // namespace kido

#endif // KIDO_DYNAMICS_INERTIA_HPP_

APT Browse - Built by Thomas Orozco.