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rigidBodyInertia Class Reference

This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and moment of inertia tensor about the centre of mass. More...

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Public Member Functions

 rigidBodyInertia ()
 Null constructor, initialises to zero. More...
 
 rigidBodyInertia (const scalar m, const vector &c, const symmTensor &Ic)
 Construct from mass, centre of mass and moment of inertia tensor. More...
 
 rigidBodyInertia (const dictionary &dict)
 Construct from dictionary. More...
 
 rigidBodyInertia (const spatialTensor &st)
 Construct from the components of a spatial tensor. More...
 
 rigidBodyInertia (Istream &is)
 Construct from Istream. More...
 
scalar m () const
 Return the mass of the rigid-body. More...
 
const vector & c () const
 Return the centre of mass of the rigid-body. More...
 
const symmTensor & Ic () const
 Return the inertia tensor of the rigid-body about the centre of mass. More...
 
symmTensor Ioc () const
 Return the difference between the inertia tensor of the rigid-body. More...
 
symmTensor Icc (const vector &c) const
 Return the difference between the inertia tensor of the rigid-body. More...
 
symmTensor Io () const
 Return the inertia tensor of the rigid-body about the origin. More...
 
scalar kineticEnergy (const spatialVector &v)
 Return the kinetic energy of the body with the given velocity. More...
 
 operator spatialTensor () const
 Conversion to spatial tensor. More...
 
void operator+= (const rigidBodyInertia &)
 

Static Public Member Functions

static symmTensor Ioc (const scalar m, const vector &c)
 Return the difference between the inertia tensor of the rigid-body. More...
 

Friends

Istream & operator>> (Istream &, rigidBodyInertia &)
 
Ostream & operator<< (Ostream &, const rigidBodyInertia &)
 

Detailed Description

This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and moment of inertia tensor about the centre of mass.

Reference: 

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
Source files

Definition at line 75 of file rigidBodyInertia.H.

Constructor & Destructor Documentation

◆ rigidBodyInertia() [1/5]

rigidBodyInertia ( )
inline

Null constructor, initialises to zero.

Definition at line 44 of file rigidBodyInertiaI.H.

Referenced by cuboid::cuboid(), Foam::RBD::operator+(), sphere::sphere(), and Foam::RBD::transform().

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◆ rigidBodyInertia() [2/5]

rigidBodyInertia ( const scalar  m,
const vector &  c,
const symmTensor &  Ic 
)
inline

Construct from mass, centre of mass and moment of inertia tensor.

about the centre of mass

Definition at line 53 of file rigidBodyInertiaI.H.

◆ rigidBodyInertia() [3/5]

rigidBodyInertia ( const dictionary &  dict)
inline

Construct from dictionary.

Definition at line 65 of file rigidBodyInertiaI.H.

◆ rigidBodyInertia() [4/5]

rigidBodyInertia ( const spatialTensor &  st)
inlineexplicit

Construct from the components of a spatial tensor.

Definition at line 73 of file rigidBodyInertiaI.H.

◆ rigidBodyInertia() [5/5]

rigidBodyInertia ( Istream &  is)
inlineexplicit

Construct from Istream.

Definition at line 81 of file rigidBodyInertiaI.H.

Member Function Documentation

◆ Ioc() [1/2]

Foam::symmTensor Ioc ( const scalar  m,
const vector &  c 
)
inlinestatic

Return the difference between the inertia tensor of the rigid-body.

about the origin - about the centre of mass for the given mass and centre of mass

Definition at line 33 of file rigidBodyInertiaI.H.

References Foam::I, Foam::magSqr(), and Foam::sqr().

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◆ m()

Foam::scalar m ( ) const
inline

Return the mass of the rigid-body.

Definition at line 91 of file rigidBodyInertiaI.H.

Referenced by cuboid::cuboid(), Foam::RBD::operator &(), Foam::RBD::operator+(), sphere::sphere(), and Foam::RBD::transform().

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◆ c()

const Foam::vector & c ( ) const
inline

Return the centre of mass of the rigid-body.

Definition at line 96 of file rigidBodyInertiaI.H.

Referenced by cuboid::cuboid(), Foam::RBD::operator &(), Foam::RBD::operator+(), sphere::sphere(), and Foam::RBD::transform().

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◆ Ic()

const Foam::symmTensor & Ic ( ) const
inline

Return the inertia tensor of the rigid-body about the centre of mass.

Definition at line 101 of file rigidBodyInertiaI.H.

Referenced by Foam::RBD::operator+(), and Foam::RBD::transform().

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◆ Ioc() [2/2]

Foam::symmTensor Ioc ( ) const
inline

Return the difference between the inertia tensor of the rigid-body.

about the origin - about the centre of mass

Definition at line 106 of file rigidBodyInertiaI.H.

Referenced by rigidBodyInertia::Icc(), and rigidBodyInertia::Io().

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◆ Icc()

Foam::symmTensor Icc ( const vector &  c) const
inline

Return the difference between the inertia tensor of the rigid-body.

about the a new centre of mass - about the current centre of mass

Definition at line 111 of file rigidBodyInertiaI.H.

References rigidBodyInertia::Ioc().

Referenced by Foam::RBD::operator+().

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◆ Io()

Foam::symmTensor Io ( ) const
inline

Return the inertia tensor of the rigid-body about the origin.

Definition at line 116 of file rigidBodyInertiaI.H.

References rigidBodyInertia::Ioc().

Referenced by Foam::RBD::operator &(), and rigidBodyInertia::operator spatialTensor().

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◆ kineticEnergy()

Foam::scalar kineticEnergy ( const spatialVector &  v)
inline

Return the kinetic energy of the body with the given velocity.

Definition at line 233 of file rigidBodyInertiaI.H.

Referenced by Foam::RBD::transform().

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◆ operator spatialTensor()

operator spatialTensor ( ) const
inline

Conversion to spatial tensor.

Definition at line 124 of file rigidBodyInertiaI.H.

References Foam::I, and rigidBodyInertia::Io().

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◆ operator+=()

void operator+= ( const rigidBodyInertia &  rbi)
inline

Definition at line 244 of file rigidBodyInertiaI.H.

Friends And Related Function Documentation

◆ operator>>

Istream& operator>> ( Istream &  ,
rigidBodyInertia &   
)
friend

◆ operator<<

Ostream& operator<< ( Ostream &  ,
const rigidBodyInertia &   
)
friend
The documentation for this class was generated from the following files: