v18.link.Link.Inertial¶
Warning
This class is autogenerated. More detailed documentation can be found in the SDFormat spec.
- class v18.link.Link.Inertial(mass=1.0, pose='0 0 0 0 0 0', inertia=None)¶
The inertial properties of the link.
- Parameters
- mass: The mass of the link.
- pose: This is the pose of the inertial reference frame. The
origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
- inertia: The 3x3 rotational inertia matrix. Because 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.
Nested Elements
Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.
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The 3x3 rotational inertia matrix. |