RigidBody¶

This class represents a rigid body.

class RigidBody¶

Bases: Body

Class modeling a rigid body.

Constructor Summary

RigidBody(Parameters)¶

Construct a rigid body.

Parameters:: Parameters ([double], [sym]) – Parameters of the body, specified as $m, p_{\mathrm{CoM}_{x}}, p_{\mathrm{CoM}_{y}}, p_{\mathrm{CoM}_{z}}, I_{xx}, I_{yy}, I_{zz}, I_{xy}, I_{xz}$ and $I_{yz}$

Property Summary

Parameters¶: Vector collecting the parameters of the rigid body as $\mathrm{Parameters} = \left( m \,\, p_{\mathrm{CoM}_{x}} \,\, p_{\mathrm{CoM}_{y}} \,\, p_{\mathrm{CoM}_{z}} \,\, I_{xx} \,\, I_{yy} \,\, I_{zz} \,\, I_{xy} \,\, I_{xz} \,\, I_{yz} \right)^{T} \in \mathbb{R}^{10 \times 1}$ where $m$ is the body mass, $p_{\mathrm{CoM}_{x}}, p_{\mathrm{CoM}_{y}}$ and $p_{\mathrm{CoM}_{z}}$ denote the center of mass position in the body distal end frame, and $I_{xx}, I_{yy}, I_{zz}, I_{xy}, I_{xz}$ and $I_{yz}$ are the components of the body inertia matrix expressed in the body distal end frame.