JointWrench.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: Specification of a contact
18 * Author: Nate Koenig
19 * Date: 10 Nov 2009
20 */
21
22#ifndef GAZEBO_PHYSICS_JOINTWRENCH_HH_
23#define GAZEBO_PHYSICS_JOINTWRENCH_HH_
24
25#include <ignition/math/Vector3.hh>
26
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace physics
32 {
35
40 class GZ_PHYSICS_VISIBLE JointWrench
41 {
45 public: JointWrench &operator =(const JointWrench &_wrench)
46 {
47 this->body1Force = _wrench.body1Force;
48 this->body2Force = _wrench.body2Force;
49
50 this->body1Torque = _wrench.body1Torque;
51 this->body2Torque = _wrench.body2Torque;
52 return *this;
53 }
54
58 public: inline JointWrench &operator +(const JointWrench &_wrench)
59 {
60 this->body1Force += _wrench.body1Force;
61 this->body2Force += _wrench.body2Force;
62
63 this->body1Torque += _wrench.body1Torque;
64 this->body2Torque += _wrench.body2Torque;
65 return *this;
66 }
67
71 public: inline JointWrench &operator -(const JointWrench &_wrench)
72 {
73 this->body1Force -= _wrench.body1Force;
74 this->body2Force -= _wrench.body2Force;
75
76 this->body1Torque -= _wrench.body1Torque;
77 this->body2Torque -= _wrench.body2Torque;
78 return *this;
79 }
80
82 public: ignition::math::Vector3d body1Force;
83
85 public: ignition::math::Vector3d body2Force;
86
88 public: ignition::math::Vector3d body1Torque;
89
91 public: ignition::math::Vector3d body2Torque;
92 };
94 }
95}
96#endif
Wrench information from a joint.
Definition JointWrench.hh:41
ignition::math::Vector3d body2Torque
Torque on the second link.
Definition JointWrench.hh:91
ignition::math::Vector3d body1Torque
Torque on the first link.
Definition JointWrench.hh:88
JointWrench & operator+(const JointWrench &_wrench)
Operator +.
Definition JointWrench.hh:58
JointWrench & operator-(const JointWrench &_wrench)
Operator -.
Definition JointWrench.hh:71
JointWrench & operator=(const JointWrench &_wrench)
Operator =.
Definition JointWrench.hh:45
ignition::math::Vector3d body1Force
Force on the first link.
Definition JointWrench.hh:82
ignition::math::Vector3d body2Force
Force on the second link.
Definition JointWrench.hh:85
Forward declarations for the common classes.
Definition Animation.hh:27