represents both translational and rotational acceleration. More...

`#include <frames.hpp>`

## Public Member Functions | |

double | operator() (int i) const |

double & | operator() (int i) |

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

Wrench & | operator+= (const Wrench &arg) |

Wrench & | operator-= (const Wrench &arg) |

double & | operator[] (int index) |

double | operator[] (int index) const |

Wrench | RefPoint (const Vector &v_base_AB) const |

void | ReverseSign () |

Reverses the sign of the current Wrench. | |

Wrench (const Vector &_force, const Vector &_torque) | |

Wrench () | |

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

## 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 | |

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

class | Frame |

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

The literal inequality operator!=(). | |

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

Scalar multiplication. | |

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

Scalar multiplication. | |

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

Wrench | operator- (const Wrench &arg) |

An unary - operator. | |

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

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

Scalar division. | |

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

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

class | Rotation |

void | SetToZero (Wrench &v) |

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

Definition at line 869 of file frames.hpp.

KDL::Wrench::Wrench | ( | ) | ` [inline]` |

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

Definition at line 877 of file frames.hpp.

Definition at line 878 of file frames.hpp.

double KDL::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

Definition at line 233 of file frames.cpp.

double & KDL::Wrench::operator() | ( | int | i |
) | ` [inline]` |

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

Definition at line 224 of file frames.cpp.

Definition at line 217 of file frames.cpp.

Definition at line 210 of file frames.cpp.

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

Definition at line 896 of file frames.hpp.

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

Definition at line 891 of file frames.hpp.

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

Definition at line 198 of file frames.cpp.

void KDL::Wrench::ReverseSign | ( | ) | ` [inline]` |

Reverses the sign of the current Wrench.

Definition at line 192 of file frames.cpp.

Wrench KDL::Wrench::Zero | ( | ) | ` [inline, static]` |

**Returns:**- a zero Wrench

Definition at line 186 of file frames.cpp.

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

Definition at line 1038 of file frames.cpp.

friend class Frame` [friend]` |

Definition at line 943 of file frames.hpp.

The literal inequality operator!=().

Definition at line 1318 of file frames.cpp.

Scalar multiplication.

Definition at line 248 of file frames.cpp.

Scalar multiplication.

Definition at line 243 of file frames.cpp.

Definition at line 259 of file frames.cpp.

An unary - operator.

Definition at line 270 of file frames.cpp.

Definition at line 264 of file frames.cpp.

Scalar division.

Definition at line 253 of file frames.cpp.

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

Definition at line 1309 of file frames.cpp.

friend class Rotation` [friend]` |

Definition at line 942 of file frames.hpp.

void SetToZero | ( | Wrench & | v |
) | ` [friend]` |

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

Definition at line 1069 of file frames.cpp.

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

Definition at line 872 of file frames.hpp.

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

Definition at line 873 of file frames.hpp.

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

orocos_kdl

Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers

autogenerated on Fri Mar 1 16:20:18 2013

Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers

autogenerated on Fri Mar 1 16:20:18 2013