pub fn combine_inertia_tensor(
m_ee: f64,
F_x_Cee: &[f64; 3],
I_ee: &[f64; 9],
m_load: f64,
F_x_Cload: &[f64; 3],
I_load: &[f64; 9],
m_total: f64,
F_x_Ctotal: &[f64; 3],
) -> [f64; 9]Expand description
Combines the inertia tensors of the end effector and the load about the combined centre of mass.
Port of franka::combineInertiaTensor (src/load_calculations.cpp, libfranka 0.21.2). Both
tensors are shifted to flange coordinates with the parallel-axis theorem, added, and shifted
back to the combined centre of mass. A body with zero mass contributes nothing, and a zero
total mass yields a zero tensor. All tensors are column-major [f64; 9].