biorbd::rigidbody::SegmentCharacteristics Class Reference

Characteristics of a segment, namely the mass, the center of mass, the inertia, the length and its mesh geometry. More...

#include <SegmentCharacteristics.h>

Inheritance diagram for biorbd::rigidbody::SegmentCharacteristics:

Public Member Functions
	SegmentCharacteristics ()
	Construct segment characteristics.
	SegmentCharacteristics (double mass, const biorbd::utils::Vector3d &com, const RigidBodyDynamics::Math::Matrix3d &inertia)
	Construct segment characteristics. More...
	SegmentCharacteristics (double mass, const biorbd::utils::Vector3d &com, const RigidBodyDynamics::Math::Matrix3d &inertia, const biorbd::rigidbody::Mesh &mesh)
	Construct segment characteristics. More...
biorbd::rigidbody::SegmentCharacteristics	DeepCopy () const
	Deep copy of the segment characteristics. More...
void	DeepCopy (const biorbd::rigidbody::SegmentCharacteristics &other)
	Copy the segment characteristics. More...
void	setLength (const biorbd::utils::Scalar &val)
	Set the segment length. More...
const biorbd::utils::Scalar &	length () const
	Returns the segment length. More...
double	mass () const
	Returns the segment mass. More...
biorbd::utils::Vector3d	CoM () const
	CoM Returns the position of the center of mass in the local reference frame. More...
void	setCoM (const biorbd::utils::Vector3d &com)
	setCoM Change the position of the center of mass More...
const biorbd::rigidbody::Mesh &	mesh () const
	Returns the segment mesh. More...
const RigidBodyDynamics::Math::Matrix3d &	inertia () const
	Returns the segment inertia matrix. More...

Protected Attributes
std::shared_ptr< biorbd::utils::Scalar >	m_length
	Length of the segment.
std::shared_ptr< biorbd::rigidbody::Mesh >	m_mesh
	Mesh of the segment.

Detailed Description

Characteristics of a segment, namely the mass, the center of mass, the inertia, the length and its mesh geometry.

Definition at line 25 of file SegmentCharacteristics.h.

Constructor & Destructor Documentation

SegmentCharacteristics() [1/2]

biorbd::rigidbody::SegmentCharacteristics::SegmentCharacteristics	(	double	mass,
		const biorbd::utils::Vector3d &	com,
		const RigidBodyDynamics::Math::Matrix3d &	inertia
	)

Construct segment characteristics.

Parameters

mass	The mass of the segment
com	The position of the center of Mass
inertia	The inertia matrix

Definition at line 15 of file SegmentCharacteristics.cpp.

SegmentCharacteristics() [2/2]

biorbd::rigidbody::SegmentCharacteristics::SegmentCharacteristics	(	double	mass,
		const biorbd::utils::Vector3d &	com,
		const RigidBodyDynamics::Math::Matrix3d &	inertia,
		const biorbd::rigidbody::Mesh &	mesh
	)

Construct segment characteristics.

Parameters

mass	The mass of the segment
com	The position of the center of Mass
inertia	The inertia matrix
mesh	The mesh geometry of the segment

Definition at line 25 of file SegmentCharacteristics.cpp.

Member Function Documentation

CoM()

biorbd::utils::Vector3d biorbd::rigidbody::SegmentCharacteristics::CoM

(

)

const

CoM Returns the position of the center of mass in the local reference frame.

Returns

The position of the center of mass in the local reference frame

Definition at line 67 of file SegmentCharacteristics.cpp.

DeepCopy() [1/2]

biorbd::rigidbody::SegmentCharacteristics biorbd::rigidbody::SegmentCharacteristics::DeepCopy

(

)

const

Deep copy of the segment characteristics.

Returns

Copy of the segment characteristics

Definition at line 37 of file SegmentCharacteristics.cpp.

DeepCopy() [2/2]

void biorbd::rigidbody::SegmentCharacteristics::DeepCopy

(

const biorbd::rigidbody::SegmentCharacteristics &

other

)

Copy the segment characteristics.

Parameters

other

The characteristics to copy

Definition at line 44 of file SegmentCharacteristics.cpp.

inertia()

const RigidBodyDynamics::Math::Matrix3d & biorbd::rigidbody::SegmentCharacteristics::inertia

(

)

const

Returns the segment inertia matrix.

Returns

The segment inertia matrix

Definition at line 83 of file SegmentCharacteristics.cpp.

length()

const biorbd::utils::Scalar & biorbd::rigidbody::SegmentCharacteristics::length

(

)

const

Returns the segment length.

Returns

The segment length

Definition at line 57 of file SegmentCharacteristics.cpp.

mass()

double biorbd::rigidbody::SegmentCharacteristics::mass

(

)

const

Returns the segment mass.

Returns

The segment mass

Definition at line 62 of file SegmentCharacteristics.cpp.

mesh()

const biorbd::rigidbody::Mesh & biorbd::rigidbody::SegmentCharacteristics::mesh

(

)

const

Returns the segment mesh.

Returns

The segment mesh

Definition at line 78 of file SegmentCharacteristics.cpp.

setCoM()

void biorbd::rigidbody::SegmentCharacteristics::setCoM

(

const biorbd::utils::Vector3d &

com

)

setCoM Change the position of the center of mass

Parameters

com	The new position for the CoM

Definition at line 72 of file SegmentCharacteristics.cpp.

setLength()

void biorbd::rigidbody::SegmentCharacteristics::setLength

(

const biorbd::utils::Scalar &

val

)

Set the segment length.

Parameters

val	Value of the new length

Definition at line 51 of file SegmentCharacteristics.cpp.

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

• SegmentCharacteristics.h
• SegmentCharacteristics.cpp