rbd::Body Class Reference

#include <RBDyn/RBDyn/Body.h>

Public Member Functions
	Body ()
	Body (const sva::RBInertiad &rbInertia, std::string name)
	Body (double mass, const Eigen::Vector3d &com, const Eigen::Matrix3d &inertia, std::string name)
const std::string &	name () const
const sva::RBInertiad &	inertia () const
bool	operator== (const Body &b) const
bool	operator!= (const Body &b) const

Detailed Description

Body representation. Hold body id, name and spatial rigid body inertia of one body.

Constructor & Destructor Documentation

Body() [1/3]

rbd::Body::Body ( )

inline

Body() [2/3]

rbd::Body::Body ( const sva::RBInertiad &  rbInertia, std::string  name  )

inline

Parameters

rbInertia	Body spatial rigid body inertia.
name	Body name, must be unique in a multibody.

Body() [3/3]

rbd::Body::Body ( double  mass, const Eigen::Vector3d &  com, const Eigen::Matrix3d &  inertia, std::string  name  )

inline

Parameters

mass	Body mass.
com	Body center of mass.
inertia	Body inertia matrix at body origin.
name	Body name, must be unique in a multibody.

Member Function Documentation

inertia()

const sva::RBInertiad& rbd::Body::inertia ( ) const

inline

Returns

Body spatial rigid body inertia.

name()

const std::string& rbd::Body::name ( ) const

inline

Returns

Body name.

operator!=()

bool rbd::Body::operator!= ( const Body &  b ) const

inline

operator==()

bool rbd::Body::operator== ( const Body &  b ) const

inline

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

• src/RBDyn/RBDyn/Body.h