public Segment(Joint joint, Frame f_tip, RigidBodyInertia I) : this(kdlPINVOKE.new_Segment__SWIG_4(Joint.getCPtr(joint), Frame.getCPtr(f_tip), RigidBodyInertia.getCPtr(I)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public void setInertia(RigidBodyInertia Iin)
{
kdlPINVOKE.Segment_setInertia(swigCPtr, RigidBodyInertia.getCPtr(Iin));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public RigidBodyInertia RefPoint(Vector p)
{
RigidBodyInertia ret = new RigidBodyInertia(kdlPINVOKE.RigidBodyInertia_RefPoint(swigCPtr, Vector.getCPtr(p)), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static RigidBodyInertia Zero()
{
RigidBodyInertia ret = new RigidBodyInertia(kdlPINVOKE.RigidBodyInertia_Zero(), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public RigidBodyInertia getInertia()
{
RigidBodyInertia ret = new RigidBodyInertia(kdlPINVOKE.Segment_getInertia(swigCPtr), false);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(RigidBodyInertia obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
