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Simbody
3.5
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Simbody
3.5
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These are utility classes for dealing with mass properties, particularly those messy inertias. More...
Go to the source code of this file.
Classes | |
| class | SimTK::UnitInertia_< P > |
| A UnitInertia matrix is a unit-mass inertia matrix; you can convert it to an Inertia by multiplying it by the actual body mass. More... | |
| class | SimTK::Inertia_< P > |
| The physical meaning of an inertia is the distribution of a rigid body's mass about a particular point. More... | |
| class | SimTK::SpatialInertia_< P > |
| A spatial inertia contains the mass, center of mass point, and inertia matrix for a rigid body. More... | |
| class | SimTK::ArticulatedInertia_< P > |
| An articulated body inertia (ABI) matrix P(q) contains the spatial inertia properties that a body appears to have when it is the free base body of an articulated multibody tree in a given configuration q. More... | |
| class | SimTK::MassProperties_< P > |
| This class contains the mass, center of mass, and unit inertia matrix of a rigid body B. More... | |
| class | SimTK::Inertia_< P > |
| The physical meaning of an inertia is the distribution of a rigid body's mass about a particular point. More... | |
| class | SimTK::UnitInertia_< P > |
| A UnitInertia matrix is a unit-mass inertia matrix; you can convert it to an Inertia by multiplying it by the actual body mass. More... | |
| class | SimTK::SpatialInertia_< P > |
| A spatial inertia contains the mass, center of mass point, and inertia matrix for a rigid body. More... | |
| class | SimTK::ArticulatedInertia_< P > |
| An articulated body inertia (ABI) matrix P(q) contains the spatial inertia properties that a body appears to have when it is the free base body of an articulated multibody tree in a given configuration q. More... | |
| class | SimTK::MassProperties_< P > |
| This class contains the mass, center of mass, and unit inertia matrix of a rigid body B. More... | |
Namespaces | |
| SimTK | |
| This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols. | |
Typedefs | |
| typedef Vec< 2, Vec3 > | SimTK::SpatialVec |
| Spatial vectors are used for (rotation,translation) quantities and consist of a pair of Vec3 objects, arranged as a 2-vector of 3-vectors. More... | |
| typedef Vec< 2, Vec< 3, float > > | SimTK::fSpatialVec |
| A SpatialVec that is always single (float) precision regardless of the compiled-in precision of Real. More... | |
| typedef Vec< 2, Vec< 3, double > > | SimTK::dSpatialVec |
| A SpatialVec that is always double precision regardless of the compiled-in precision of Real. More... | |
| typedef Row< 2, Row3 > | SimTK::SpatialRow |
| This is the type of a transposed SpatialVec; it does not usually appear explicitly in user programs. More... | |
| typedef Row< 2, Row< 3, float > > | SimTK::fSpatialRow |
| A SpatialRow that is always single (float) precision regardless of the compiled-in precision of Real. More... | |
| typedef Row< 2, Row< 3, double > > | SimTK::dSpatialRow |
| A SpatialRow that is always double precision regardless of the compiled-in precision of Real. More... | |
| typedef Mat< 2, 2, Mat33 > | SimTK::SpatialMat |
| Spatial matrices are used to hold 6x6 matrices that are best viewed as 2x2 matrices of 3x3 matrices; most commonly for spatial and articulated body inertias and spatial shift matrices. More... | |
| typedef Mat< 2, 2, Mat< 3, 3, float > > | SimTK::fSpatialMat |
| A SpatialMat that is always single (float) precision regardless of the compiled-in precision of Real. More... | |
| typedef Mat< 2, 2, Mat< 3, 3, double > > | SimTK::dSpatialMat |
| A SpatialMat that is always double precision regardless of the compiled-in precision of Real. More... | |
| typedef UnitInertia_< Real > | SimTK::UnitInertia |
| A unit inertia (gyration) tensor at default precision. More... | |
| typedef UnitInertia_< float > | SimTK::fUnitInertia |
| A unit inertia (gyration) tensor at float precision. More... | |
| typedef UnitInertia_< double > | SimTK::dUnitInertia |
| A unit inertia (gyration) tensor at double precision. More... | |
| typedef Inertia_< Real > | SimTK::Inertia |
| An inertia tensor at default precision. More... | |
| typedef Inertia_< float > | SimTK::fInertia |
| An inertia tensor at float precision. More... | |
| typedef Inertia_< double > | SimTK::dInertia |
| An inertia tensor at double precision. More... | |
| typedef MassProperties_< Real > | SimTK::MassProperties |
| Rigid body mass properties at default precision. More... | |
| typedef MassProperties_< float > | SimTK::fMassProperties |
| Rigid body mass properties at float precision. More... | |
| typedef MassProperties_< double > | SimTK::dMassProperties |
| Rigid body mass properties at double precision. More... | |
| typedef SpatialInertia_< Real > | SimTK::SpatialInertia |
| A spatial (rigid body) inertia matrix at default precision. More... | |
| typedef SpatialInertia_< float > | SimTK::fSpatialInertia |
| A spatial (rigid body) inertia matrix at float precision. More... | |
| typedef SpatialInertia_< double > | SimTK::dSpatialInertia |
| A spatial (rigid body) inertia matrix at double precision. More... | |
| typedef ArticulatedInertia_< Real > | SimTK::ArticulatedInertia |
| An articulated body inertia matrix at default precision. More... | |
| typedef ArticulatedInertia_< float > | SimTK::fArticulatedInertia |
| An articulated body inertia matrix at float precision. More... | |
| typedef ArticulatedInertia_< double > | SimTK::dArticulatedInertia |
| An articulated body inertia matrix at double precision. More... | |
| typedef UnitInertia | SimTK::Gyration |
| For backwards compatibility only; use UnitInertia instead. More... | |
These are utility classes for dealing with mass properties, particularly those messy inertias.
1.8.11 
