vulcan::mass Namespace Reference

Classes
struct	MassProperties

Functions
template<typename Scalar>
MassProperties< Scalar >	operator* (const Scalar &factor, const MassProperties< Scalar > &props)
	Left-multiplication: factor * props.
template<typename Scalar>
MassProperties< Scalar >	aggregate_mass_properties (const std::vector< MassProperties< Scalar > > &components)
template<typename Scalar>
MassProperties< Scalar >	transform_mass_properties (const MassProperties< Scalar > &props, const Mat3< Scalar > &rotation, const Vec3< Scalar > &translation)
template<typename Scalar>
bool	is_physically_valid (const MassProperties< Scalar > &props)
template<typename Scalar>
bool	is_point_mass (const MassProperties< Scalar > &props)
	Check if effectively a point mass (zero inertia).
template<typename Scalar>
Vec3< Scalar >	principal_moments (const MassProperties< Scalar > &props)
	Compute principal moments of inertia (eigenvalues, numeric only).
template<typename Scalar>
Mat3< Scalar >	principal_axes (const MassProperties< Scalar > &props)
	Compute principal axes rotation matrix (eigenvectors, numeric only).

Function Documentation

aggregate_mass_properties()

template<typename Scalar>

MassProperties< Scalar > vulcan::mass::aggregate_mass_properties

(

const std::vector< MassProperties< Scalar > > &

components

)

Aggregate a collection of mass properties

Computes combined CG and inertia tensor about combined CG. Equivalent to sum() in Python.

Parameters

components

Vector of component mass properties

Returns

Combined mass properties

is_physically_valid()

template<typename Scalar>

bool vulcan::mass::is_physically_valid

(

const MassProperties< Scalar > &

props

)

Check if mass properties are physically valid (numeric only)

Conditions checked:

1. mass > 0
2. Principal moments > 0
3. Triangle inequality: I1 + I2 >= I3 (for all permutations)

Returns

true if physically possible

is_point_mass()

template<typename Scalar>

bool vulcan::mass::is_point_mass

(

const MassProperties< Scalar > &

props

)

Check if effectively a point mass (zero inertia).

operator*()

template<typename Scalar>

MassProperties< Scalar > vulcan::mass::operator*	(	const Scalar &	factor,
		const MassProperties< Scalar > &	props )

Left-multiplication: factor * props.

principal_axes()

template<typename Scalar>

Mat3< Scalar > vulcan::mass::principal_axes

(

const MassProperties< Scalar > &

props

)

Compute principal axes rotation matrix (eigenvectors, numeric only).

principal_moments()

template<typename Scalar>

Vec3< Scalar > vulcan::mass::principal_moments

(

const MassProperties< Scalar > &

props

)

Compute principal moments of inertia (eigenvalues, numeric only).

transform_mass_properties()

template<typename Scalar>

MassProperties< Scalar > vulcan::mass::transform_mass_properties	(	const MassProperties< Scalar > &	props,
		const Mat3< Scalar > &	rotation,
		const Vec3< Scalar > &	translation )

Transform mass properties to a new coordinate frame

Parameters

props	Original mass properties
rotation	Rotation matrix from old frame to new frame
translation	Translation from old origin to new origin (in old frame)

Returns

Mass properties expressed in new frame