Program Listing for File SpatialInertia.h

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#pragmaonce

#include"Karana/Math/Defs.h"
#include"Karana/Math/HomTran.h"
#include"Karana/Math/SpatialVector.h"
#include<cfloat>

namespaceKarana::Math{

usingnamespaceEigen;

classSpatialInertia{

//Constructors
public:
SpatialInertia();

voiduninitialize();

boolisInitialized()const;

SpatialInertia(doublemass,constVec3&b2cm,constMat33&inertia,boolvalidate=true);

//Copyconstructor,moveconstructor,andassignmentoperators
public:
SpatialInertia(constSpatialInertia&other);

voidsetZero();

SpatialInertia&operator=(constSpatialInertia&other);

SpatialInertia(SpatialInertia&&other)noexcept;

SpatialInertia&operator=(SpatialInertia&&other)noexcept;

SpatialInertiaoperator+(constSpatialInertia&other)const;

SpatialInertiaoperator-(constSpatialInertia&other)const;

SpatialInertia&operator+=(constSpatialInertia&other);

SpatialInertia&operator-=(constSpatialInertia&other);

public:
booloperator==(constSpatialInertia&other)const;

boolisApprox(constSpatialInertia&other,doubleprec=MATH_EPSILON);

std::stringtypeString()const;

doublemass()const{return_mass;}

constVec3&b2cm()const{return_b2cm;}

constVec3&mp()const{return_mp;}

constMat33&inertia()const{return_inertia;}

constMat33&cmInertia()const{return_cm_inertia;}

std::stringdumpString(conststd::string&prefix="",
unsignedintprecision=10,
boolexponential=false)const;

voiddump(conststd::string&prefix="",
unsignedintprecision=10,
boolexponential=false)const;

SpatialVectoroperator*(constSpatialVector&vec)const{
Vec3w=_inertia*vec.getw()+_mp.cross(vec.getv());
Vec3v=vec.getw().cross(_mp)+_mass*vec.getv();
returnSpatialVector(w,v);
}

constMat66&matrix()const;

constSpatialInertiaparallelAxis(constHomTran&T)const;

void
_setInertia(doublemass,constVec3&b2cm,constMat33&inertia,boolat_cm,boolvalidate);

void_validateInertia(constMat33&inertia)const;

Mat33_parallelAxisCmInertiaOffset(constVec3&offset)const;

private:
double_mass=-FLT_MAX;
Vec3_b2cm,_mp;
Mat33_inertia,_cm_inertia;

mutablebool_cached_spi_matrix_flag=false;
mutableMat66_cached_spi_matrix;
};

}//namespaceKarana::Math