Function Karana::Dynamics::Algorithms::evalSpatialInertia

Function Karana::Dynamics::Algorithms::evalSpatialInertia#

Function Documentation#

km::SpatialInertia Karana::Dynamics::Algorithms::evalSpatialInertia(const SubTree &st, kc::ks_ptr<kf::Frame> ref_frame = nullptr)#

Calculate the overall spatial inertia for a sub-tree.

Return the overall spatial inertia of all the bodies in the sub-tree about the reference frame. The multibody virtual root serves as the default reference frame.

See the System Properties Algorithms section for more information.

Parameters:

  • st – SubTree instance

  • ref_frame – reference frame for the spatial inertia (default: the virtual root)

Returns:

The overall tree spatial inertia

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