dynamicsJRLJapan::DynamicBody Class Reference
[User Classes]

This class implements a body. More...

#include <jrl/dynamics/dynamicbody.hh>

Inheritance diagram for dynamicsJRLJapan::DynamicBody:

[legend]

Collaboration diagram for dynamicsJRLJapan::DynamicBody:

[legend]

List of all members.

Public Member Functions
virtual const vector3d &	localCenterOfMass () const
	Get position of center of mass in joint local reference frame.
virtual void	localCenterOfMass (const vector3d &inlocalCenterOfMass)
	Set postion of center of mass in joint reference frame.
virtual const matrix3d &	inertiaMatrix () const
	Get Intertia matrix expressed in joint local reference frame.
virtual void	inertiaMatrix (const matrix3d &inInertiaMatrix)
	Set inertia matrix.
virtual double	mass () const
	Get mass.
virtual void	mass (double inMass)
	Set mass.
virtual const CjrlJoint *	joint () const
	Get const pointer to the joint the body is attached to.
Constructor and destructor
virtual	~DynamicBody ()
	DynamicBody ()
	DynamicBody (const DynamicBody &inBody)
Public Attributes
boost::shared_ptr< CjrlBody >	m_privateObj

---

Detailed Description

This class implements a body.

See CjrlJoint for documentation.

---

Constructor & Destructor Documentation

virtual dynamicsJRLJapan::DynamicBody::~DynamicBody

(

)

[inline, virtual]

dynamicsJRLJapan::DynamicBody::DynamicBody

(

)

dynamicsJRLJapan::DynamicBody::DynamicBody

(

const DynamicBody &

inBody

)

---

Member Function Documentation

virtual void dynamicsJRLJapan::DynamicBody::inertiaMatrix

(

const matrix3d &

inInertiaMatrix

)

[virtual]

Set inertia matrix.

Implements CjrlBody.

virtual const matrix3d& dynamicsJRLJapan::DynamicBody::inertiaMatrix

(

)

const [virtual]

Get Intertia matrix expressed in joint local reference frame.

Implements CjrlBody.

virtual const CjrlJoint* dynamicsJRLJapan::DynamicBody::joint

(

)

const [virtual]

Get const pointer to the joint the body is attached to.

Implements CjrlBody.

virtual void dynamicsJRLJapan::DynamicBody::localCenterOfMass

(

const vector3d &

inlocalCenterOfMass

)

[virtual]

Set postion of center of mass in joint reference frame.

Implements CjrlBody.

virtual const vector3d& dynamicsJRLJapan::DynamicBody::localCenterOfMass

(

)

const [virtual]

Get position of center of mass in joint local reference frame.

Implements CjrlBody.

virtual void dynamicsJRLJapan::DynamicBody::mass

(

double

inMass

)

[virtual]

Set mass.

Implements CjrlBody.

virtual double dynamicsJRLJapan::DynamicBody::mass

(

)

const [virtual]

Get mass.

Implements CjrlBody.

---

Member Data Documentation

boost::shared_ptr<CjrlBody> dynamicsJRLJapan::DynamicBody::m_privateObj