Struct SpatialInertia 

pub struct SpatialInertia {
    pub mass: f64,
    pub com: Vec3,
    pub inertia: Mat3,
}

Spatial inertia of a rigid body about its center of mass.

Stored as mass, center of mass offset, and rotational inertia. Can be converted to a 6x6 spatial inertia matrix.

Fields

mass: f64

Mass of the body.

com: Vec3

Center of mass position in body frame.

inertia: Mat3

Rotational inertia about the center of mass (3x3 symmetric).

Implementations

impl SpatialInertia

pub fn new(mass: f64, com: Vec3, inertia: Mat3) -> Self

Create a spatial inertia with the given mass, CoM offset, and inertia matrix.

pub fn point_mass(mass: f64, pos: Vec3) -> Self

Create spatial inertia for a point mass at a given position.

pub fn rod(mass: f64, length: f64) -> Self

Create spatial inertia for a uniform rod of given mass and length along Y axis. Rod is centered at origin.

pub fn sphere(mass: f64, radius: f64) -> Self

Create spatial inertia for a uniform sphere.

pub fn to_matrix(&self) -> SpatialMat

Convert to 6x6 spatial inertia matrix (about the body frame origin).

I_spatial = | I + m[c]×[c]×ᵀ m[c]× | | m[c]×ᵀ mE |

pub fn transform(&self, xform: &SpatialTransform) -> SpatialInertia

Transform this inertia to a new frame.

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 Copy for SpatialInertia