46 #ifndef RBD_rigidBodyInertia_H 47 #define RBD_rigidBodyInertia_H 67 class rigidBodyInertia;
68 Istream&
operator>>(Istream&, rigidBodyInertia&);
69 Ostream&
operator<<(Ostream&,
const rigidBodyInertia&);
127 inline scalar
m()
const;
130 inline const vector&
c()
const;
Templated 3D spatial tensor derived from MatrixSpace used to represent transformations of spatial vec...
Ostream & operator<<(Ostream &, const rigidBody &)
Istream & operator>>(Istream &, rigidBodyInertia &)
A list of keyword definitions, which are a keyword followed by any number of values (e...
symmTensor Io() const
Return the inertia tensor of the rigid-body about the origin.
An Istream is an abstract base class for all input systems (streams, files, token lists etc)...
friend Istream & operator>>(Istream &, rigidBodyInertia &)
const symmTensor & Ic() const
Return the inertia tensor of the rigid-body about the centre of mass.
scalar m() const
Return the mass of the rigid-body.
SpatialTensor< scalar > spatialTensor
SpatialTensor of scalars.
rigidBodyInertia()
Null constructor, initializes to zero.
symmTensor Icc(const vector &c) const
Return the difference between the inertia tensor of the rigid-body.
const vector & c() const
Return the centre of mass of the rigid-body.
friend Ostream & operator<<(Ostream &, const rigidBodyInertia &)
void operator+=(const rigidBodyInertia &)
An Ostream is an abstract base class for all output systems (streams, files, token lists...
symmTensor Ioc() const
Return the difference between the inertia tensor of the rigid-body.
scalar kineticEnergy(const spatialVector &v)
Return the kinetic energy of the body with the given velocity.
This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and ...