inertia.h

Go to the documentation of this file.

#ifndef INCLUDE_TINYURDF_CORE_INERTIA_H_
#define INCLUDE_TINYURDF_CORE_INERTIA_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <string>
#include <memory>
#include <loguru/loguru.hpp>
#include "core/pose.h"
#include "common/property_base.h"
#include "common/geometry_base.h"
 
class Inertia : public PropertyBase, public GeometryBase {
 public:
  Inertia();
  Inertia(double mass, double ixx, double ixy, double ixz,
          double iyy, double iyz, double izz);
  bool isA(const char* name) const override;
  bool validate() const override;
  void clear() override;
  std::string toString() const override;
  const char* getTypename() const override;
  bool empty() const override;
  void setOrigin(double x, double y, double z) override;
  void getOrigin(double* xyz) const override;
  void setMass(const double m);
  void setIxx(double ixx_);
  void setIxy(double ixy_);
  void setIxz(double ixz_);
  void setIyy(double iyy_);
  void setIyz(double iyz_);
  void setIzz(double izz_);
 private:
  std::shared_ptr<Pose> origin;
  double mass;
  double ixx, ixy, ixz, iyy, iyz, izz;
};
#endif  // INCLUDE_TINYURDF_CORE_INERTIA_H_