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Public Member Functions | Public Attributes
Sim::MassData Class Reference

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

#include <alrobotmodel.h>

List of all members.

Public Member Functions

 MassData ()
 creates an empty MassData, you should not use this.
virtual ~MassData ()
 destructor.
float mass () const
 returns the mass in Kg.
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.
const std::vector< float > & inertiaMatrix () const
 Inertia matrix, see Motion's module reference in Aldebaran's Documentation to have more details.

Public Attributes

class MassDataImpl * a_impl
 Private implementation.

Detailed Description

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

Definition at line 324 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.

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.

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