symmTensor Icc(const vector &c) const
Return the difference between the inertia tensor of the rigid-body.
scalar kineticEnergy(const spatialVector &v)
Return the kinetic energy of the body with the given velocity.
const vector & c() const
Return the centre of mass of the rigid-body.
void operator+=(const rigidBodyInertia &)
rigidBodyInertia()
Null constructor, initializes to zero.
symmTensor Io() const
Return the inertia tensor of the rigid-body about the origin.
friend Ostream & operator<<(Ostream &, const rigidBodyInertia &)
symmTensor Ioc() const
Return the difference between the inertia tensor of the rigid-body.
friend Istream & operator>>(Istream &, rigidBodyInertia &)
scalar m() const
Return the mass of the rigid-body.
const symmTensor & Ic() const
Return the inertia tensor of the rigid-body about the centre of mass.
This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and ...