KDL 1.5.1
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represents both translational and rotational acceleration. More...
#include <src/frames.hpp>
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. | |
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) |
do not use operator == because the definition of Equal(.,.) is slightly different. | |
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!=(). | |
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
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inline |
Does initialise force and torque to zero via the underlying constructor of Vector.
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inline |
index-based access to components, first force(0..2), then torque(3..5)
Referenced by operator[](), and operator[]().
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inline |
index-based access to components, first force(0..2), then torque(3..5) for use with a const Wrench
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inline |
References operator()().
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inline |
References operator()().
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
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inline |
Reverses the sign of the current Wrench.
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inlinestatic |
Referenced by KDL::ChainDynParam::updateInternalDataStructures().
do not use operator == because the definition of Equal(.,.) is slightly different.
It compares whether the 2 arguments are equal in an eps-interval
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friend |
The literal inequality operator!=().
The literal equality operator==(), also identical.
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friend |
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friend |
Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.
Vector KDL::Wrench::force |
Force that is applied at the origin of the current ref frame.
Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::Rotation::Inverse(), KDL::Frame::Inverse(), KDL::Frame::operator*(), operator+=(), operator-=(), KDL::operator<<(), and KDL::operator>>().
Vector KDL::Wrench::torque |
Torque that is applied at the origin of the current ref frame.
Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::Rotation::Inverse(), KDL::Frame::Inverse(), KDL::Frame::operator*(), operator+=(), operator-=(), KDL::operator<<(), and KDL::operator>>().