SOFA API  c76874b7
Open source framework for multi-physics simuation
sofa::defaulttype::SolidTypes< R >::ArticulatedInertia Class Reference

#include <SolidTypes.h>

Public Attributes

Mat M
 
Mat H
 
Mat I
 

Public Member Functions

 ArticulatedInertia ()
 
 ArticulatedInertia (const Mat &M, const Mat &H, const Mat &I)
 
SpatialVector operator* (const SpatialVector &v) const
 
ArticulatedInertia operator* (Real r) const
 
ArticulatedInertiaoperator= (const RigidInertia &Ri)
 
ArticulatedInertiaoperator+= (const ArticulatedInertia &Ai)
 
ArticulatedInertia operator+ (const ArticulatedInertia &Ai) const
 
ArticulatedInertia operator- (const ArticulatedInertia &Ai) const
 
void copyTo (Mat66 &) const
 Convert to a full 6x6 matrix. More...
 

Friends

std::ostream & operator<< (std::ostream &out, const ArticulatedInertia &r)
 

Attribute details

template<class R = float>
Mat sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H
template<class R = float>
Mat sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I
template<class R = float>
Mat sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M

Constructor details

template<class R >
sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia ( )
template<class R >
sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia ( const Mat M,
const Mat H,
const Mat I 
)

Function details

template<class R >
void sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::copyTo ( Mat66 m) const

Convert to a full 6x6 matrix.

template<class R >
SolidTypes< R >::SpatialVector sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator* ( const SpatialVector v) const
template<class R >
SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator* ( Real  r) const
template<class R >
SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator+ ( const ArticulatedInertia Ai) const
template<class R >
SolidTypes< R >::ArticulatedInertia & sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator+= ( const ArticulatedInertia Ai)
template<class R >
SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator- ( const ArticulatedInertia Ai) const
template<class R >
SolidTypes< R >::ArticulatedInertia & sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator= ( const RigidInertia Ri)

Related details

template<class R = float>
std::ostream& operator<< ( std::ostream &  out,
const ArticulatedInertia r 
)
friend