KDL 1.5.4
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Public Member Functions | Static Public Member Functions | Public Attributes | Friends | List of all members
KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <src/frames.hpp>

Collaboration diagram for KDL::Wrench:
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Public Member Functions

 Wrench ()
 Does initialise force and torque to zero via the underlying constructor of Vector.
 Wrench (const Vector &_force, const Vector &_torque)
Wrench & operator-= (const Wrench &arg)
Wrench & operator+= (const Wrench &arg)
double & operator() (int i)
 index-based access to components, first force(0..2), then torque(3..5)
double operator() (int i) const
 index-based access to components, first force(0..2), then torque(3..5) for use with a const Wrench
double operator[] (int index) const
double & operator[] (int index)
void ReverseSign ()
 Reverses the sign of the current Wrench.
Wrench RefPoint (const Vector &v_base_AB) const
 Changes the reference point of the wrench. The vector v_base_AB is expressed in the same base as the twist The vector v_base_AB is a vector from the old point to the new point.

Static Public Member Functions

static Wrench Zero ()

Public Attributes

Vector force
 Force that is applied at the origin of the current ref frame.
Vector torque
 Torque that is applied at the origin of the current ref frame.

Friends

class Rotation
class Frame
Wrench operator* (const Wrench &lhs, double rhs)
 Scalar multiplication.
Wrench operator* (double lhs, const Wrench &rhs)
 Scalar multiplication.
Wrench operator/ (const Wrench &lhs, double rhs)
 Scalar division.
Wrench operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &arg)
 An unary - operator.
void SetToZero (Wrench &v)
 Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.
bool Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
 do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
bool operator== (const Wrench &a, const Wrench &b)
 The literal equality operator==(), also identical.
bool operator!= (const Wrench &a, const Wrench &b)
 The literal inequality operator!=().

Detailed Description

represents both translational and rotational acceleration.

This class represents an acceleration twist. A acceleration twist is the combination of translational acceleration and rotational acceleration applied at one point.

represents the combination of a force and a torque.

This class represents a Wrench. A Wrench is the force and torque applied at a point

Constructor & Destructor Documentation

◆ Wrench() [1/2]

KDL::Wrench::Wrench ( )
inline

Does initialise force and torque to zero via the underlying constructor of Vector.

References force, and torque.

Referenced by KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), KDL::TreeIdSolver_RNE::initAuxVariables(), and KDL::RigidBodyInertia::operator*.

◆ Wrench() [2/2]

KDL::Wrench::Wrench ( const Vector & _force,
const Vector & _torque )
inline

References force, and torque.

Member Function Documentation

◆ operator()() [1/2]

double & Wrench::operator() ( int i)
inline

index-based access to components, first force(0..2), then torque(3..5)

References KDL::dot(), operator-, SetToZero, and Zero().

◆ operator()() [2/2]

double Wrench::operator() ( int i) const
inline

index-based access to components, first force(0..2), then torque(3..5) for use with a const Wrench

◆ operator+=()

Wrench & Wrench::operator+= ( const Wrench & arg)
inline

References operator*, operator+, operator-, and operator/.

◆ operator-=()

Wrench & Wrench::operator-= ( const Wrench & arg)
inline

References operator*.

Referenced by RefPoint().

◆ operator[]() [1/2]

double & KDL::Wrench::operator[] ( int index)
inline

◆ operator[]() [2/2]

double KDL::Wrench::operator[] ( int index) const
inline

◆ RefPoint()

Wrench Wrench::RefPoint ( const Vector & v_base_AB) const
inline

Changes the reference point of the wrench. The vector v_base_AB is expressed in the same base as the twist The vector v_base_AB is a vector from the old point to the new point.

Complexity : 6M+6A

References operator-=(), and ReverseSign().

◆ ReverseSign()

void Wrench::ReverseSign ( )
inline

Reverses the sign of the current Wrench.

References KDL::Vector::operator()().

Referenced by RefPoint().

◆ Zero()

Wrench Wrench::Zero ( )
inlinestatic
Returns
a zero Wrench

References KDL::Vector::operator()().

Referenced by operator()(), and KDL::ChainDynParam::updateInternalDataStructures().

◆ Equal

bool Equal ( const Wrench & a,
const Wrench & b,
double eps = epsilon )
friend

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Referenced by operator/.

◆ Frame

friend class Frame
friend

References Frame.

Referenced by Frame, and operator/.

◆ operator!=

bool operator!= ( const Wrench & a,
const Wrench & b )
friend

The literal inequality operator!=().

Referenced by operator+.

◆ operator* [1/2]

Wrench operator* ( const Wrench & lhs,
double rhs )
friend

Scalar multiplication.

Referenced by operator+=(), and operator-=().

◆ operator* [2/2]

Wrench operator* ( double lhs,
const Wrench & rhs )
friend

Scalar multiplication.

◆ operator+

Wrench operator+ ( const Wrench & lhs,
const Wrench & rhs )
friend

References operator!=, and operator==.

Referenced by operator+=().

◆ operator- [1/2]

Wrench operator- ( const Wrench & arg)
friend

An unary - operator.

◆ operator- [2/2]

Wrench operator- ( const Wrench & lhs,
const Wrench & rhs )
friend

Referenced by operator()(), and operator+=().

◆ operator/

Wrench operator/ ( const Wrench & lhs,
double rhs )
friend

Scalar division.

References Equal, and Frame.

Referenced by operator+=().

◆ operator==

bool operator== ( const Wrench & a,
const Wrench & b )
friend

The literal equality operator==(), also identical.

Referenced by operator+.

◆ Rotation

friend class Rotation
friend

References Rotation.

Referenced by Rotation.

◆ SetToZero

void SetToZero ( Wrench & v)
friend

Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.

Referenced by operator()().

Member Data Documentation

◆ force

Vector KDL::Wrench::force

Force that is applied at the origin of the current ref frame.

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ArticulatedBodyInertia::operator*, KDL::operator<<(), KDL::operator>>(), Wrench(), and Wrench().

◆ torque

Vector KDL::Wrench::torque

Torque that is applied at the origin of the current ref frame.

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ArticulatedBodyInertia::operator*, KDL::operator<<(), KDL::operator>>(), Wrench(), and Wrench().

The documentation for this class was generated from the following files:
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