54 lines
1.6 KiB
C
54 lines
1.6 KiB
C
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//
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// Created by xtkuang on 2025/7/8.
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//
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#ifndef INERTIAL_H
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#define INERTIAL_H
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#pragma once
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#include <eigen3/Eigen/Core>
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#include "utils/math/se3.h"
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namespace cmvr::dyn {
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class Inertial;
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class Inertial {
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public:
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using MatrixType = Eigen::Matrix<double, 6, 6>;
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static MatrixType I(double mass);
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static MatrixType I(double mass, double ixx, double iyy, double izz,
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const math::SE3::MatrixType& T = math::SE3::Identity());
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static MatrixType I(double mass, double ixx, double iyy, double izz,
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const Eigen::Vector3d& com);
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static MatrixType I(double mass, double ixx, double iyy, double izz, double ixy, double ixz, double iyz,
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const math::SE3::MatrixType& T = math::SE3::Identity());
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static MatrixType I(double mass, double ixx, double iyy, double izz, double ixy, double ixz, double iyz,
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const Eigen::Vector3d& com);
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static MatrixType I(double mass, const Eigen::Vector3d& inertia,
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const math::SE3::MatrixType& T = math::SE3::Identity());
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static MatrixType I(double mass, const Eigen::Matrix<double, 6, 1>& inertia,
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const math::SE3::MatrixType& T = math::SE3::Identity());
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static MatrixType Transform(const math::SE3::MatrixType& T, const MatrixType& I);
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static Eigen::Vector3d GetCOM(const MatrixType& I);
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static double GetMass(const MatrixType& I);
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// [I_{xx}, I_{yy}, I_{zz}, I_{xy}, I_{xz}, I_{yz}]^T
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static Eigen::Vector<double, 6> GetInertia(const MatrixType& I);
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};
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}
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#endif //INERTIAL_H
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