center of gravity

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

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AttachmentSize
cog.patch2.51 KB
Ruben Smits's picture

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)