LibXR::CenterOfMass< Scalar > Class Template Reference

质心信息表示类。Represents the center of mass information. More...

#include <inertia.hpp>

Public Member Functions
	CenterOfMass ()
	默认构造函数，初始化质心位置为 (0,0,0)，质量为 0。Default constructor initializing position to (0,0,0) and mass to 0.
	CenterOfMass (Scalar m, const LibXR::Position< Scalar > &p)
	使用质量和位置构造质心对象。Constructs a center of mass object using mass and position.
	CenterOfMass (Scalar m, const Eigen::Matrix< Scalar, 3, 1 > &p)
	使用质量和 Eigen 3D 向量构造质心对象。Constructs a center of mass object using mass and Eigen 3D vector.
	CenterOfMass (const Inertia< Scalar > &m, const Transform< Scalar > &p)
	从惯性对象和变换构造质心对象。Constructs a center of mass object from inertia and transformation.
CenterOfMass	operator+ (const CenterOfMass &m) const
	计算两个质心的合成。Computes the combined center of mass.
CenterOfMass &	operator+= (const CenterOfMass &m)
	质心累加运算符。Accumulation operator for center of mass.

Data Fields
Eigen::Matrix< Scalar, 3, 1 >	position
	质心位置。Center of mass position.
Scalar	mass
	质量值。Mass value.

Detailed Description

template<typename Scalar = DefaultScalar>
class LibXR::CenterOfMass< Scalar >

质心信息表示类。Represents the center of mass information.

Template Parameters

Scalar

数据类型，默认为 DefaultScalar。Data type, defaulting to DefaultScalar.

Definition at line 218 of file inertia.hpp.

Constructor & Destructor Documentation

CenterOfMass() [1/4]

template<typename Scalar = DefaultScalar>

LibXR::CenterOfMass< Scalar >::CenterOfMass ( )

inline

默认构造函数，初始化质心位置为 (0,0,0)，质量为 0。Default constructor initializing position to (0,0,0) and mass to 0.

Definition at line 226 of file inertia.hpp.

: position(0., 0., 0.), mass(0.) {}

CenterOfMass() [2/4]

template<typename Scalar = DefaultScalar>

LibXR::CenterOfMass< Scalar >::CenterOfMass ( Scalar  m, const LibXR::Position< Scalar > &  p  )

inline

使用质量和位置构造质心对象。Constructs a center of mass object using mass and position.

Parameters

m	质量值。Mass value.
p	质心位置。Center of mass position.

Definition at line 234 of file inertia.hpp.

: position(p), mass(m) {}

CenterOfMass() [3/4]

template<typename Scalar = DefaultScalar>

LibXR::CenterOfMass< Scalar >::CenterOfMass ( Scalar  m, const Eigen::Matrix< Scalar, 3, 1 > &  p  )

inline

使用质量和 Eigen 3D 向量构造质心对象。Constructs a center of mass object using mass and Eigen 3D vector.

Parameters

m	质量值。Mass value.
p	3D 位置向量。3D position vector.

Definition at line 242 of file inertia.hpp.

: position(p), mass(m) {}

CenterOfMass() [4/4]

template<typename Scalar = DefaultScalar>

LibXR::CenterOfMass< Scalar >::CenterOfMass ( const Inertia< Scalar > &  m, const Transform< Scalar > &  p  )

inline

从惯性对象和变换构造质心对象。Constructs a center of mass object from inertia and transformation.

Parameters

m	惯性对象。Inertia object.
p	变换对象。Transformation object.

Definition at line 250 of file inertia.hpp.

      : position(p.translation), mass(m.mass)
  {
  }

Member Function Documentation

operator+()

template<typename Scalar = DefaultScalar>

CenterOfMass LibXR::CenterOfMass< Scalar >::operator+ ( const CenterOfMass< Scalar > &  m ) const

inline

计算两个质心的合成。Computes the combined center of mass.

Parameters

m	另一个质心对象。Another center of mass object.

Returns

合并后的质心对象。Combined center of mass object.

Definition at line 260 of file inertia.hpp.

  {
    Scalar new_mass = mass + m.mass;
    return CenterOfMass(
        new_mass,
        Position<Scalar>((position(0) * mass + m.position(0) * m.mass) / new_mass,
                         (position(1) * mass + m.position(1) * m.mass) / new_mass,
                         (position(2) * mass + m.position(2) * m.mass) / new_mass));
  }

operator+=()

template<typename Scalar = DefaultScalar>

CenterOfMass & LibXR::CenterOfMass< Scalar >::operator+= ( const CenterOfMass< Scalar > &  m )

inline

质心累加运算符。Accumulation operator for center of mass.

Parameters

m	另一个质心对象。Another center of mass object.

Returns

当前对象的引用。Reference to the current object.

Definition at line 275 of file inertia.hpp.

  {
    *this = *this + m;
    return *this;
  }

Field Documentation

mass

template<typename Scalar = DefaultScalar>

Scalar LibXR::CenterOfMass< Scalar >::mass

质量值。Mass value.

Definition at line 222 of file inertia.hpp.

position

template<typename Scalar = DefaultScalar>

Eigen::Matrix<Scalar, 3, 1> LibXR::CenterOfMass< Scalar >::position

质心位置。Center of mass position.

Definition at line 221 of file inertia.hpp.

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

• src/utils/inertia.hpp