com.kuka.roboticsAPI.geometricModel.physics
Class Inertia

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.physics.Inertia

public final class Inertia
extends Object

Represents the inertia of a physical object along its main inertia axes. The SI unit of inertia is kg * m^2.

Field Summary

static Inertia

ZERO Immutable Inertia instance representing zero inertia.

Method Summary

boolean	equals(Object obj)
double	getJX() Gets the inertia of the object around the X axis.
double	getJY() Gets the inertia of the object around the Y axis.
double	getJZ() Gets the inertia of the object around the Z axis.
int	hashCode()
static Inertia	of(double jX, double jY, double jZ) Creates a new immutable instance of this class, with the given values of inertia along the X, Y and Z axes of an object's mass centroid.
static Inertia	of(Vector values) Creates a new immutable instance of this class, with the given values of inertia along the X, Y and Z axes of an object's mass centroid.
String	toString() Returns a textual description of the inertia.
Vector	toVector() Creates a Vector of the inertia's values.
Inertia	withJX(double value) Returns a new Inertia instance with the X inertia set to the given value.
Inertia	withJY(double value) Returns a new Inertia instance with the Y inertia set to the given value.
Inertia	withJZ(double value) Returns a new Inertia instance with the Z inertia set to the given value.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

ZERO

public static final Inertia ZERO

Immutable Inertia instance representing zero inertia.

Method Detail

of

public static Inertia of(double jX,
                         double jY,
                         double jZ)

Creates a new immutable instance of this class, with the given values of inertia along the X, Y and Z axes of an object's mass centroid.

Parameters:

jX - The inertia along the X axis of an object's mass centroid in [kg * m^2].

jY - The inertia along the Y axis of an object's mass centroid in [kg * m^2].

jZ - The inertia along the Z axis of an object's mass centroid in [kg * m^2].

Returns:

the new immutable instance

of

public static Inertia of(Vector values)

Creates a new immutable instance of this class, with the given values of inertia along the X, Y and Z axes of an object's mass centroid.

Parameters:

values - A Vector with the values of the inertia along the axes of an object's mass centroid in [kg * m^2].

Returns:

the new immutable instance

getJX

public double getJX()

Gets the inertia of the object around the X axis.

Returns:

The inertia of the object around the X axis in [kg * m^2].

getJY

public double getJY()

Gets the inertia of the object around the Y axis.

Returns:

The inertia of the object around the Y axis in [kg * m^2].

getJZ

public double getJZ()

Gets the inertia of the object around the Z axis.

Returns:

The inertia of the object around the Z axis in [kg * m^2].

withJX

public Inertia withJX(double value)

Returns a new Inertia instance with the X inertia set to the given value.

Parameters:

value - The new value in [kg * m^2].

Returns:

a new immutable instance of Inertia

withJY

public Inertia withJY(double value)

Returns a new Inertia instance with the Y inertia set to the given value.

Parameters:

value - The new value in [kg * m^2].

Returns:

a new immutable instance of Inertia

withJZ

public Inertia withJZ(double value)

Returns a new Inertia instance with the Z inertia set to the given value.

Parameters:

value - The new value in [kg * m^2].

Returns:

a new immutable instance of Inertia

toVector

public Vector toVector()

Creates a Vector of the inertia's values.

Returns:

a new vector containing the inertia's values

toString

public String toString()

Returns a textual description of the inertia. The representation is subject to change. The following string can be regarded as typical:

"[1.23, 300.00, -20.20]"

Overrides:

toString in class Object

Returns:

a brief description of the inertia

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object