SOFA API  014b24ea
Open source framework for multi-physics simuation
sofa::defaulttype::SolidTypes< R >::RigidInertia Class Reference

#include <SolidTypes.h>

Public Attributes

Real m
 mass More...
 
Vec h
 position of the mass center in the local reference frame More...
 
Mat I
 

Public Member Functions

 RigidInertia ()
 Inertia matrix around the mass center. More...
 
 RigidInertia (Real m, const Vec &h, const Mat &I)
 
SpatialVector operator* (const SpatialVector &v) const
 
RigidInertia operator* (const Transform &t) const
 

Friends

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

Attribute details

template<class R = float>
Vec sofa::defaulttype::SolidTypes< R >::RigidInertia::h

position of the mass center in the local reference frame

template<class R = float>
Mat sofa::defaulttype::SolidTypes< R >::RigidInertia::I
template<class R = float>
Real sofa::defaulttype::SolidTypes< R >::RigidInertia::m

mass

Constructor details

template<class R >
sofa::defaulttype::SolidTypes< R >::RigidInertia::RigidInertia ( )

Inertia matrix around the mass center.

template<class R >
sofa::defaulttype::SolidTypes< R >::RigidInertia::RigidInertia ( Real  m,
const Vec h,
const Mat I 
)

Function details

template<class R >
SolidTypes< R >::SpatialVector sofa::defaulttype::SolidTypes< R >::RigidInertia::operator* ( const SpatialVector v) const
template<class R >
SolidTypes< R >::RigidInertia sofa::defaulttype::SolidTypes< R >::RigidInertia::operator* ( const Transform t) const

Related details

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