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: 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

`from_data`	Construct an object of this type from the provided data.
`get_urdf_element`

Inherited Methods

`copy`	Make an independent copy of the data object.
`from_json`	Construct an object from serialized data contained in a JSON file.
`from_jsonstring`	Construct an object from serialized data contained in a JSON string.
`to_data`	Convert an object to its native data representation.
`to_json`	Serialize the data representation of an object to a JSON file.
`to_jsonstring`	Serialize the data representation of an object to a JSON string.
`validate_data`	Validate the object's data against its data schema.
`validate_json`	Validate the object's data against its json schema.

Inertia

COMPAS