dyn::Inertial
=============

``rb::dyn::Inertial`` provides inertia-matrix constructors and transformation
helpers for rigid-body links. It is the low-level entry point when you need to
create, inspect, or move inertia tensors between frames.

.. rubric:: Header

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   * - Header
     - ``#include <rby1-sdk/dynamics/inertial.h>``

.. rubric:: Declaration

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   * - Namespace
     - ``rb::dyn``
   * - Kind
     - ``class``
   * - Primary role
     - Construct and transform rigid-body inertia matrices.

.. rubric:: Member Types

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   * - Type
     - Purpose
     - Notes
   * - ``MatrixType``
     - Matrix representation used by the inertia helpers.
     - Passed into every factory and accessor on this page.

.. rubric:: Public Member Functions

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   * - Method group
     - Purpose
     - Notes
   * - ``I(...)``
     - Build inertia matrices from mass, principal moments, or full inertia
       data.
     - Multiple overloads cover common construction patterns.
   * - ``GetMass(...)``, ``GetCOM(...)``, ``GetInertia(...)``
     - Extract physical values from an inertia matrix.
     - Useful when inspecting imported models.
   * - ``Transform(...)``
     - Move an inertia matrix through an ``SE3`` transform.
     - Frame-conversion helper for the same inertia data.

.. rubric:: Detailed Reference

.. doxygenclass:: rb::dyn::Inertial
   :project: rby1-sdk
   :members:
   :undoc-members:

.. rubric:: Related Types

- :doc:`dyn-link`
- :doc:`math-se3`

.. rubric:: Examples

- ``dynamics/load_urdf.cpp`` is the main reference for inertial data inside a
  full model.