Sim::MassData Class Reference

MassData embeds information about the inertial mass of a physical object. More...

#include <alrobotmodel.h>

Public Member Functions
	MassData ()
	creates an empty MassData, you should not use this. More...
virtual	~MassData ()
	destructor. More...
float	mass () const
	returns the mass in Kg. More...
const AL::Math::Position3D &	CoM () const
	returns the Center of Mass, relative to the frame of the object, defined in meters in a vector AL::Math::Position3D. More...
const std::vector< float > &	inertiaMatrix () const
	Inertia matrix, see Motion's module reference in Aldebaran's Documentation to have more details. More...

Public Attributes
class MassDataImpl *	a_impl
	Private implementation. More...

Detailed Description

MassData embeds information about the inertial mass of a physical object.

Definition at line 479 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::MassData::MassData

(

)

creates an empty MassData, you should not use this.

Warning

The MassData being empty, every access to this object will throw.

virtual Sim::MassData::~MassData ( )

virtual

destructor.

Member Function Documentation

const AL::Math::Position3D& Sim::MassData::CoM

(

)

const

returns the Center of Mass, relative to the frame of the object, defined in meters in a vector AL::Math::Position3D.

Remarks

See the C++ reference of libalmath in Aldebaran's Documentation for more details on AL::Math::Position3D.

const std::vector<float>& Sim::MassData::inertiaMatrix

(

)

const

Inertia matrix, see Motion's module reference in Aldebaran's Documentation to have more details.

float Sim::MassData::mass

(

)

const

returns the mass in Kg.

Member Data Documentation

class MassDataImpl* Sim::MassData::a_impl

Private implementation.

Definition at line 499 of file alrobotmodel.h.

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The documentation for this class was generated from the following file:

• /home/opennao/work/master/agility/alrobotmodel/libalrobotmodel/alrobotmodel/alrobotmodel.h