表示刚体的惯性张量和质量信息的类。Provides a class to represent the inertia tensor and mass of a rigid body. More...

#include <inertia.hpp>

Public Member Functions
template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value\|\|std::is_same< T, float >::value\|\|std::is_same< T, double >::value, int > = 0>
	Inertia (Scalar m, const T(&data)[9])
	使用质量和 3x3 惯性张量数组构造惯性对象。Constructs an inertia object using mass and a 3x3 inertia tensor array.

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value\|\|std::is_same< T, float >::value\|\|std::is_same< T, double >::value, int > = 0>
	Inertia (Scalar m, const T(&data)[3][3])
	使用质量和二维 3x3 数组构造惯性对象。Constructs an inertia object using mass and a 3x3 matrix.

	Inertia ()
	默认构造函数，初始化质量为0，惯性张量为零矩阵。Default constructor initializing mass to 0 and inertia tensor to zero.

template<typename T , std::enable_if_t< std::is_same< T, float >::value\|\|std::is_same< T, double >::value, int > = 0>
	Inertia (Scalar m, const T(&data)[6])
	使用质量和 6 维数组（对称惯性矩阵）构造惯性对象。Constructs an inertia object using mass and a 6-element symmetric inertia matrix.

	Inertia (Scalar m, Scalar xx, Scalar yy, Scalar zz, Scalar xy, Scalar yz, Scalar xz)
	直接指定质量和惯性张量分量构造惯性对象。Constructs an inertia object with mass and specified inertia tensor elements.

	Inertia (Scalar m, const Eigen::Matrix< Scalar, 3, 3 > &R)
	使用 Eigen 3x3 矩阵构造惯性对象。Constructs an inertia object using an Eigen 3x3 matrix.

	operator Eigen::Matrix< Scalar, 3, 3 > () const
	转换为 Eigen 3x3 矩阵。Converts to an Eigen 3x3 matrix.

Scalar	operator() (int i, int j) const
	获取惯性张量中的特定元素。Retrieves a specific element from the inertia tensor.

Eigen::Matrix< Scalar, 3, 3 >	operator+ (const Eigen::Matrix< Scalar, 3, 3 > &R) const
	将惯性张量与另一个 3x3 矩阵相加。Adds the inertia tensor with another 3x3 matrix.

Inertia	Translate (const Eigen::Matrix< Scalar, 3, 1 > &p) const
	平移惯性对象。Translates the inertia object.

Inertia	Rotate (const Eigen::Matrix< Scalar, 3, 3 > &R) const
	旋转惯性张量。Rotates the inertia tensor.

Inertia	Rotate (const RotationMatrix< Scalar > &R) const
	使用 RotationMatrix 旋转惯性张量。Rotates the inertia tensor using a RotationMatrix.

Inertia	Rotate (const Eigen::Quaternion< Scalar > &q) const
	使用四元数旋转惯性张量。Rotates the inertia tensor using a quaternion.

Inertia	Rotate (const Quaternion< Scalar > &q) const
	使用自定义 Quaternion 旋转惯性张量。Rotates the inertia tensor using a custom Quaternion.

Static Public Member Functions
static Eigen::Matrix< Scalar, 3, 3 >	Rotate (const Eigen::Matrix< Scalar, 3, 3 > &R, const Eigen::Quaternion< Scalar > &q)
	使用四元数旋转 3x3 矩阵。Rotates a 3x3 matrix using a quaternion.

Data Fields
Scalar	data [9]

Scalar	mass
	质量值。Mass value.

Detailed Description

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

表示刚体的惯性张量和质量信息的类。Provides a class to represent the inertia tensor and mass of a rigid body.

Template Parameters

Scalar 数据类型，默认为 DefaultScalar。The data type, defaulting to DefaultScalar.

Definition at line 22 of file inertia.hpp.

Constructor & Destructor Documentation

◆ Inertia() [1/6]

template<typename Scalar = DefaultScalar>

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::Inertia< Scalar >::Inertia	(	Scalar	m,
		const T(&)	data[9]
	)

inlineexplicit

使用质量和 3x3 惯性张量数组构造惯性对象。Constructs an inertia object using mass and a 3x3 inertia tensor array.

Template Parameters

T	数据类型，支持 Scalar、float 或 double。Data type, supporting Scalar, float, or double.

Parameters

m	质量值。Mass value.
data	3x3 惯性张量数组。3x3 inertia tensor array.

Definition at line 41 of file inertia.hpp.

                                                 : mass(m)
  {
    for (int i = 0; i < 3; i++)
    {
      for (int j = 0; j < 3; j++)
      {
        data[i * 3 + j] = static_cast<Scalar>(data[i + j + 3]);
      }
    }
  }

◆ Inertia() [2/6]

template<typename Scalar = DefaultScalar>

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::Inertia< Scalar >::Inertia	(	Scalar	m,
		const T(&)	data[3][3]
	)

inlineexplicit

使用质量和二维 3x3 数组构造惯性对象。Constructs an inertia object using mass and a 3x3 matrix.

Template Parameters

T	数据类型，支持 Scalar、float 或 double。Data type, supporting Scalar, float, or double.

Parameters

m	质量值。Mass value.
data	3x3 惯性张量矩阵。3x3 inertia tensor matrix.

Definition at line 64 of file inertia.hpp.

                                                    : mass(m)
  {
    for (int i = 0; i < 3; i++)
    {
      for (int j = 0; j < 3; j++)
      {
        data[i * 3 + j] = static_cast<Scalar>(data[j][i]);
      }
    }
  }

◆ Inertia() [3/6]

template<typename Scalar = DefaultScalar>

LibXR::Inertia< Scalar >::Inertia ( )

inline

默认构造函数，初始化质量为0，惯性张量为零矩阵。Default constructor initializing mass to 0 and inertia tensor to zero.

Definition at line 79 of file inertia.hpp.

79: mass(0) { memset(data, 0, sizeof(data)); }

◆ Inertia() [4/6]

template<typename Scalar = DefaultScalar>

template<typename T , std::enable_if_t< std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::Inertia< Scalar >::Inertia	(	Scalar	m,
		const T(&)	data[6]
	)

inlineexplicit

使用质量和 6 维数组（对称惯性矩阵）构造惯性对象。Constructs an inertia object using mass and a 6-element symmetric inertia matrix.

Template Parameters

T	数据类型，支持 float 或 double。Data type, supporting float or double.

Parameters

m	质量值。Mass value.
data	6 维惯性张量数据。6-element inertia tensor data.

Definition at line 91 of file inertia.hpp.

      : data{data[0],  -data[3], -data[5], -data[3], data[2],
             -data[4], -data[5], -data[4], data[2]},
        mass(m)
  {
  }

◆ Inertia() [5/6]

template<typename Scalar = DefaultScalar>

LibXR::Inertia< Scalar >::Inertia	(	Scalar	m,
		Scalar	xx,
		Scalar	yy,
		Scalar	zz,
		Scalar	xy,
		Scalar	yz,
		Scalar	xz
	)

inline

直接指定质量和惯性张量分量构造惯性对象。Constructs an inertia object with mass and specified inertia tensor elements.

Parameters

m	质量值。Mass value.
xx,yy,zz	主惯性矩。Principal moments of inertia.
xy,yz,xz	交叉惯性矩。Cross moments of inertia.

Definition at line 105 of file inertia.hpp.

      : data{xx, -xy, -xz, -xy, yy, -yz, -xz, -yz, zz}, mass(m)
  {
  }

◆ Inertia() [6/6]

template<typename Scalar = DefaultScalar>

LibXR::Inertia< Scalar >::Inertia	(	Scalar	m,
		const Eigen::Matrix< Scalar, 3, 3 > &	R
	)

inline

使用 Eigen 3x3 矩阵构造惯性对象。Constructs an inertia object using an Eigen 3x3 matrix.

Parameters

m	质量值。Mass value.
R	3x3 惯性张量矩阵。3x3 inertia tensor matrix.

Definition at line 116 of file inertia.hpp.

                                                        : mass(m)
  {
    memcpy(data, R.data(), 9 * sizeof(Scalar));
  }

Member Function Documentation

◆ operator Eigen::Matrix< Scalar, 3, 3 >()

template<typename Scalar = DefaultScalar>

LibXR::Inertia< Scalar >::operator Eigen::Matrix< Scalar, 3, 3 > ( ) const

inline

转换为 Eigen 3x3 矩阵。Converts to an Eigen 3x3 matrix.

Definition at line 122 of file inertia.hpp.

  {
    return Eigen::Map<const Eigen::Matrix<Scalar, 3, 3>>(data);
  }

◆ operator()()

template<typename Scalar = DefaultScalar>

Scalar LibXR::Inertia< Scalar >::operator()	(	int	i,
		int	j
	)		const

inline

获取惯性张量中的特定元素。Retrieves a specific element from the inertia tensor.

Definition at line 129 of file inertia.hpp.

129{ return data[i + j * 3]; }

◆ operator+()

template<typename Scalar = DefaultScalar>

Eigen::Matrix< Scalar, 3, 3 > LibXR::Inertia< Scalar >::operator+ ( const Eigen::Matrix< Scalar, 3, 3 > & R ) const

inline

将惯性张量与另一个 3x3 矩阵相加。Adds the inertia tensor with another 3x3 matrix.

Definition at line 134 of file inertia.hpp.

  {
    return Eigen::Map<const Eigen::Matrix<Scalar, 3, 3>>(data) + R;
  }

◆ Rotate() [1/5]

template<typename Scalar = DefaultScalar>

Inertia LibXR::Inertia< Scalar >::Rotate ( const Eigen::Matrix< Scalar, 3, 3 > & R ) const

inline

旋转惯性张量。Rotates the inertia tensor.

Parameters

R	旋转矩阵。Rotation matrix.

Returns: 旋转后的惯性张量。Rotated inertia tensor.

Definition at line 160 of file inertia.hpp.

  {
    return Inertia(
        mass, R * Eigen::Map<const Eigen::Matrix<Scalar, 3, 3>>(data) * R.transpose());
  }

◆ Rotate() [2/5]

template<typename Scalar = DefaultScalar>

static Eigen::Matrix< Scalar, 3, 3 > LibXR::Inertia< Scalar >::Rotate	(	const Eigen::Matrix< Scalar, 3, 3 > &	R,
		const Eigen::Quaternion< Scalar > &	q
	)

inlinestatic

使用四元数旋转 3x3 矩阵。Rotates a 3x3 matrix using a quaternion.

Parameters

R	3x3 矩阵。3x3 matrix.
q	四元数。Quaternion.

Returns: 旋转后的矩阵。Rotated matrix.

Definition at line 194 of file inertia.hpp.

  {
    return q * R * q.conjugate();
  }

◆ Rotate() [3/5]

template<typename Scalar = DefaultScalar>

Inertia LibXR::Inertia< Scalar >::Rotate ( const Eigen::Quaternion< Scalar > & q ) const

inline

使用四元数旋转惯性张量。Rotates the inertia tensor using a quaternion.

Parameters

q	四元数。Quaternion.

Returns: 旋转后的惯性张量。Rotated inertia tensor.

Definition at line 182 of file inertia.hpp.

  {
    return Inertia(
        mass, q * Eigen::Map<const Eigen::Matrix<Scalar, 3, 3>>(data) * q.conjugate());
  }

◆ Rotate() [4/5]

template<typename Scalar = DefaultScalar>

Inertia LibXR::Inertia< Scalar >::Rotate ( const Quaternion< Scalar > & q ) const

inline

使用自定义 Quaternion 旋转惯性张量。Rotates the inertia tensor using a custom Quaternion.

Parameters

q	自定义四元数对象。Custom quaternion object.

Returns: 旋转后的惯性张量。Rotated inertia tensor.

Definition at line 206 of file inertia.hpp.

  {
    return Rotate(Eigen::Quaternion<Scalar>(q));
  }

◆ Rotate() [5/5]

template<typename Scalar = DefaultScalar>

Inertia LibXR::Inertia< Scalar >::Rotate ( const RotationMatrix< Scalar > & R ) const

inline

使用 RotationMatrix 旋转惯性张量。Rotates the inertia tensor using a RotationMatrix.

Parameters

R	旋转矩阵对象。Rotation matrix object.

Returns: 旋转后的惯性张量。Rotated inertia tensor.

Definition at line 172 of file inertia.hpp.

  {
    return Rotate(Eigen::Map<const Eigen::Matrix<Scalar, 3, 3>>(R.data_));
  }

◆ Translate()

template<typename Scalar = DefaultScalar>

Inertia LibXR::Inertia< Scalar >::Translate ( const Eigen::Matrix< Scalar, 3, 1 > & p ) const

inline

平移惯性对象。Translates the inertia object.

Parameters

p	平移向量。Translation vector.

Returns: 平移后的惯性对象。Translated inertia object.

Definition at line 144 of file inertia.hpp.

  {
    Scalar dx = p(0), dy = p(1), dz = p(2);
    Eigen::Matrix<Scalar, 3, 3> translation_matrix;
    translation_matrix << dy * dy + dz * dz, -dx * dy, -dx * dz, -dx * dy,
        dx * dx + dz * dz, -dy * dz, -dx * dz, -dy * dz, dx * dx + dy * dy;
 
    return Inertia(mass, Eigen::Map<const Eigen::Matrix<Scalar, 3, 3>>(data) +
                             mass * translation_matrix);
  }

Field Documentation

◆ data

template<typename Scalar = DefaultScalar>

Scalar LibXR::Inertia< Scalar >::data[9]

惯性张量数据，3x3 矩阵存储为一维数组。Inertia tensor data stored as a 3x3 matrix in a 1D array.

Definition at line 25 of file inertia.hpp.

◆ mass

template<typename Scalar = DefaultScalar>

Scalar LibXR::Inertia< Scalar >::mass

质量值。Mass value.

Definition at line 27 of file inertia.hpp.

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

src/utils/inertia.hpp

Public Member Functions

Static Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

◆ Inertia() [1/6]

◆ Inertia() [2/6]

◆ Inertia() [3/6]

◆ Inertia() [4/6]

◆ Inertia() [5/6]

◆ Inertia() [6/6]

Member Function Documentation

◆ operator Eigen::Matrix< Scalar, 3, 3 >()

◆ operator()()

◆ operator+()

◆ Rotate() [1/5]

◆ Rotate() [2/5]

◆ Rotate() [3/5]

◆ Rotate() [4/5]

◆ Rotate() [5/5]

◆ Translate()

Field Documentation

◆ data

◆ mass