Simbody  3.7
MassProperties.h File Reference

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...
 

Detailed Description

These are utility classes for dealing with mass properties, particularly those messy inertias.