Class Inertia


  • public class Inertia
    extends Object
    Container for inertia of a 3D object.

    Instances of this class are immutable

    Since:
    12.0
    Author:
    Luc Maisonobe
    • Method Detail

      • swap12

        public Inertia swap12()
        Swap axes 1 and 2.

        The instance is unchanged.

        Returns:
        inertia with swapped axes
      • swap13

        public Inertia swap13()
        Swap axes 1 and 3.

        The instance is unchanged.

        Returns:
        inertia with swapped axes
      • swap23

        public Inertia swap23()
        Swap axes 2 and 3.

        The instance is unchanged.

        Returns:
        inertia with swapped axes
      • getInertiaAxis1

        public InertiaAxis getInertiaAxis1()
        Get inertia along first axis.
        Returns:
        inertia along first axis
      • getInertiaAxis2

        public InertiaAxis getInertiaAxis2()
        Get inertia along second axis.
        Returns:
        inertia along second axis
      • getInertiaAxis3

        public InertiaAxis getInertiaAxis3()
        Get inertia along third axis.
        Returns:
        inertia along third axis
      • momentum

        public Vector3D momentum​(Vector3D rotationRate)
        Compute angular momentum.
        Parameters:
        rotationRate - rotation rate in body frame.
        Returns:
        angular momentum in body frame