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

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.

virtual Sim::MassData::~MassData ( )

virtual

destructor.

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.

class MassDataImpl* Sim::MassData::a_impl

Private implementation.

Definition at line 499 of file alrobotmodel.h.

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

/home/opennao/work/release-2.5/agility/alrobotmodel/libalrobotmodel/alrobotmodel/alrobotmodel.h