- 3.0.2 models module.
inertia_properties.impl.h
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1 template <typename TRAIT>
2 iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties<TRAIT>::InertiaProperties()
3 {
4  com_Link1 = iit::rbd::Vector3d(0.5,0.0,0.0).cast<Scalar>();
5  tensor_Link1.fill(
6  Scalar(1.0),
7  com_Link1,
8  rbd::Utils::buildInertiaTensor(
9  Scalar(5.0E-4),
10  Scalar(0.251),
11  Scalar(0.2505),
12  Scalar(0.0),
13  Scalar(0.0),
14  Scalar(-2.1855406E-11)) );
15 
16  com_Link2 = iit::rbd::Vector3d(0.5,0.0,0.0).cast<Scalar>();
17  tensor_Link2.fill(
18  Scalar(1.0),
19  com_Link2,
20  rbd::Utils::buildInertiaTensor(
21  Scalar(5.0E-4),
22  Scalar(0.2505),
23  Scalar(0.251),
24  Scalar(0.0),
25  Scalar(0.0),
26  Scalar(0.0)) );
27 
28 }
29 
iit::rbd::Vector3d
Cored::Vector3 Vector3d
Scalar
ct::core::ADCodegenLinearizer< state_dim, control_dim >::ADCGScalar Scalar
Definition: HyALinearizationCodeGen.cpp:23
iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties::InertiaProperties
InertiaProperties()
Definition: inertia_properties.impl.h:2