hmi.math
Class SpatialInertiaTensor

java.lang.Object
  hmi.math.SpatialInertiaTensor

public final class SpatialInertiaTensor
extends Object

Efficient implementation of the 6x6 spatial inertia tensor As defined in Rigid Body Dynamics Algorithms Roy Featherstone 2007 using a 13-element float array

Author:

Herwin van Welbergen

Field Summary

static int	H
static int	I
static int	M

Constructor Summary

private

SpatialInertiaTensor()

Method Summary

void	add(float[] destTensor, float[] tensor1, float[] tensor2) Idest = I1 + I2
void	add(float[] destTensor, int dstIndex, float[] tensor1, int index1, float[] tensor2, int index2) Idest = I1 + I2
static float[]	getSpatialInertiaTensor() Returns a new float[13] array with zero components
static void	set(float[] tensor, float[] rotI, float mass) Sets the tensor with the coordinate frame at the center of mass, that is, c = 0 rotI is the rotational inertia tensor at the center of mass
static void	set(float[] tensor, float[] rotI, float[] pos, float mass) Sets the tensor, rotI is the rotational inertia tensor at the center of mass C pos is the vector OC, with O the origin of the body
static void	set(float[] tensor, int iIndex, float[] rotI, float mass) Sets the tensor with the coordinate frame at the center of mass, that is, c = 0 rotI is the rotational inertia tensor at the center of mass
static void	set(float[] tensor, int iIndex, float[] rotI, float[] pos, float mass) Sets the tensor, rotI is the rotational inertia tensor at the center of mass C pos is the vector OC, with O the origin of the body
static String	toString(float[] tensor) String representation
static void	transformSpatialVec(float[] vdest, float[] tensor, float[] a) vdest = tensor*a
static void	transformSpatialVec(float[] vdest, int dstIndex, float[] tensor, int iIndex, float[] a, int aIndex) vdest = I*a

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

I

public static final int I

See Also:

Constant Field Values

H

public static final int H

See Also:

Constant Field Values

M

public static final int M

See Also:

Constant Field Values

Constructor Detail

SpatialInertiaTensor

private SpatialInertiaTensor()

Method Detail

getSpatialInertiaTensor

public static float[] getSpatialInertiaTensor()

Returns a new float[13] array with zero components

set

public static void set(float[] tensor,
                       float[] rotI,
                       float[] pos,
                       float mass)

Sets the tensor, rotI is the rotational inertia tensor at the center of mass C pos is the vector OC, with O the origin of the body

set

public static void set(float[] tensor,
                       int iIndex,
                       float[] rotI,
                       float[] pos,
                       float mass)

Sets the tensor, rotI is the rotational inertia tensor at the center of mass C pos is the vector OC, with O the origin of the body

set

public static void set(float[] tensor,
                       float[] rotI,
                       float mass)

Sets the tensor with the coordinate frame at the center of mass, that is, c = 0 rotI is the rotational inertia tensor at the center of mass

set

public static void set(float[] tensor,
                       int iIndex,
                       float[] rotI,
                       float mass)

Sets the tensor with the coordinate frame at the center of mass, that is, c = 0 rotI is the rotational inertia tensor at the center of mass

transformSpatialVec

public static void transformSpatialVec(float[] vdest,
                                       float[] tensor,
                                       float[] a)

vdest = tensor*a

transformSpatialVec

public static void transformSpatialVec(float[] vdest,
                                       int dstIndex,
                                       float[] tensor,
                                       int iIndex,
                                       float[] a,
                                       int aIndex)

vdest = I*a

add

public void add(float[] destTensor,
                float[] tensor1,
                float[] tensor2)

Idest = I1 + I2

add

public void add(float[] destTensor,
                int dstIndex,
                float[] tensor1,
                int index1,
                float[] tensor2,
                int index2)

Idest = I1 + I2

toString

public static String toString(float[] tensor)

String representation