- 3.0.2 models module.
inertia_properties.impl.h
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1 template <typename TRAIT>
2 iit::ct_quadrotor::dyn::tpl::InertiaProperties<TRAIT>::InertiaProperties()
3 {
4  com_body = iit::rbd::Vector3d(0.0,0.0,0.0).cast<SCALAR>();
5  tensor_body.fill(
6  SCALAR(0.5),
7  com_body,
8  rbd::Utils::buildInertiaTensor(
9  SCALAR(0.03),
10  SCALAR(0.05),
11  SCALAR(0.03),
12  SCALAR(0.0),
13  SCALAR(0.0),
14  SCALAR(0.0)) );
15 
16  com_link1 = iit::rbd::Vector3d(0.0,0.0,-0.05).cast<SCALAR>();
17  tensor_link1.fill(
18  SCALAR(0.025),
19  com_link1,
20  rbd::Utils::buildInertiaTensor(
21  SCALAR(2.075E-5),
22  SCALAR(1.0E-6),
23  SCALAR(2.075E-5),
24  SCALAR(0.0),
25  SCALAR(0.0),
26  SCALAR(0.0)) );
27 
28  com_link2 = iit::rbd::Vector3d(0.35,0.0,0.0).cast<SCALAR>();
29  tensor_link2.fill(
30  SCALAR(0.1),
31  com_link2,
32  rbd::Utils::buildInertiaTensor(
33  SCALAR(0.004084),
34  SCALAR(0.004084),
35  SCALAR(2.5E-6),
36  SCALAR(0.0),
37  SCALAR(0.0),
38  SCALAR(0.0)) );
39 
40 }
41 
iit::ct_quadrotor::dyn::tpl::InertiaProperties::InertiaProperties
InertiaProperties()
Definition: inertia_properties.impl.h:2
iit::rbd::Vector3d
Cored::Vector3 Vector3d
SCALAR
CppAD::AD< CppAD::cg::CG< double > > SCALAR
Definition: HyQLinearizationCodegen.cpp:14