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.

Header

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

Declaration

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

Member Types

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

Public Member Functions

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.

Detailed Reference

class Inertial#

Public Types

using MatrixType = Eigen::Matrix<double, 6, 6>#

Public Static Functions

static Eigen::Vector3d GetCOM(const MatrixType &I)#

static Eigen::Vector<double, 6> GetInertia(const MatrixType &I)#

static double GetMass(const MatrixType &I)#

static MatrixType I(double mass)#

static MatrixType I(double mass, const Eigen::Matrix<double, 6, 1> &inertia, const math::SE3::MatrixType &T = math::SE3::Identity())#

static MatrixType I(double mass, const Eigen::Vector3d &inertia, const math::SE3::MatrixType &T = math::SE3::Identity())#

static MatrixType I(double mass, double ixx, double iyy, double izz, const Eigen::Vector3d &com)#

static MatrixType I(double mass, double ixx, double iyy, double izz, const math::SE3::MatrixType &T = math::SE3::Identity())#

static MatrixType I(double mass, double ixx, double iyy, double izz, double ixy, double ixz, double iyz, const Eigen::Vector3d &com)#

static MatrixType I(double mass, double ixx, double iyy, double izz, double ixy, double ixz, double iyz, const math::SE3::MatrixType &T = math::SE3::Identity())#

static MatrixType Transform(const math::SE3::MatrixType &T, const MatrixType &I)#

Related Types

Examples

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