Inertia

class compas.robots.Inertia(ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0)[source]

Bases: compas.base.Base

Rotational inertia matrix (3x3) represented in the inertia frame.

Since the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.

Methods

__init__([ixx, ixy, ixz, iyy, iyz, izz])

Initialize self.

from_data(data)

Construct an object of this type from the provided data.

from_json(filepath)

Construct an object from serialised data contained in a JSON file.

get_urdf_element()

to_data()

Convert an object to its native data representation.

to_json(filepath)

Serialize the data representation of an object to a JSON file.

validate_data()

Validate the data of this object against its data schema (self.DATASCHEMA).

validate_json()

Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).