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.

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Detailed Description

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

Definition at line 324 of file alrobotmodel.h.

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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.

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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.

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

• alrobotmodel/alrobotmodel/alrobotmodel.h