Hi,
I want to propose yet another patch, to add the center of gravity to a
segment. Currently a segment has the mass, Ixx, Iyy, Izz, Ixy, Ixz,
Izy, but it does not contain information about the center of gravity.
Comments are very welcome!
Wim
Disclaimer: http://www.kuleuven.be/cwis/email_disclaimer.htm
| Attachment | Size |
|---|---|
| cog.patch | 2.51 KB |
center of gravity
On Wednesday 28 January 2009 20:01:34 Wim Meeussen wrote:
> Hi,
>
> I want to propose yet another patch, to add the center of gravity to a
> segment. Currently a segment has the mass, Ixx, Iyy, Izz, Ixy, Ixz,
> Izy, but it does not contain information about the center of gravity.
>
> Comments are very welcome!
The patch also includes some changes from the joint2.patch you send, which I
am still revising (and in which I spotted some problems ;) )
Also, since i don't like overloaded objects, do you think this addition
completes the Segment class? Or should we expect other information to be added
to the Segment?
Ruben
center of gravity
>> I want to propose yet another patch, to add the center of gravity to a
>> segment. Currently a segment has the mass, Ixx, Iyy, Izz, Ixy, Ixz,
>> Izy, but it does not contain information about the center of gravity.
>>
>> Comments are very welcome!
>
> The patch also includes some changes from the joint2.patch you send
I know, the patches were piling up ;-)
> Also, since i don't like overloaded objects, do you think this addition
> completes the Segment class? Or should we expect other information to be
> added to the Segment?
The cog should not be part of the segment, but of the body (inertia).
See my last email for more details.
Wim
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)
>