Struct SpatialInertia 

pub struct SpatialInertia(/* private fields */);

Spatial inertia matrix, represented as a 6x6 matrix.

The spatial inertia matrix is expressed as: $$\begin{bmatrix} mI_3 & -mc_\times \\ mc_\times & I_c \end{bmatrix}$$ where $m$ is the mass, $I_3$ is the 3x3 identity matrix, $c_\times=[c]_\times$ is the skew-symmetric matrix of the center of mass vector, and $I_c$ is the rotational inertia matrix about the center of mass.

Implementations

impl SpatialInertia

pub fn new(ixx: f64, ixy: f64, ixz: f64, iyy: f64, iyz: f64, izz: f64) -> Self

Creates a new SpatialInertia object with the given elements.

Arguments

• ixx, iyy, izz - Diagonal elements of the rotational inertia matrix.
• ixy, ixz, iyz - Off-diagonal elements of the rotational inertia matrix.

Returns

A new SpatialInertia object.

pub fn zeros() -> Self

Creates a new SpatialInertia object with all elements set to zero.

pub fn from_diagonal(diag: &Vector6D) -> Self

Creates a new SpatialInertia object from a diagonal vector.

Arguments

• diag - A 6D vector representing the diagonal elements of the spatial inertia matrix.

Returns

A new SpatialInertia object.

Trait Implementations

impl Clone for SpatialInertia

fn clone(&self) -> SpatialInertia

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SpatialInertia

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for SpatialInertia

fn default() -> SpatialInertia

Returns the “default value” for a type.

impl Mul<&SpatialMotion> for &SpatialInertia

type Output = SpatialMotion

The resulting type after applying the * operator.

fn mul(self, rhs: &SpatialMotion) -> Self::Output

Performs the * operation.

impl PartialEq for SpatialInertia

fn eq(&self, other: &SpatialInertia) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for SpatialInertia