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.data.data.Data

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

copy([cls])	Make an independent copy of the data object.
from_data(data)
from_json(filepath)	Construct an object from serialized data contained in a JSON file.
from_jsonstring(string)	Construct an object from serialized data contained in a JSON string.
get_urdf_element()
to_data()	Convert an object to its native data representation.
to_json(filepath[, pretty])	Serialize the data representation of an object to a JSON file.
to_jsonstring([pretty])	Serialize the data representation of an object to a JSON string.
validate_data()	Validate the object's data against its data schema (self.DATASCHEMA).
validate_json()	Validate the object's data against its json schema (self.JSONSCHEMA).