ICR::WrenchCone Class Reference

Holds a matrix of prmimitve wrenches; The wrench cone id is the same as the id of the corresponding contact point. More...

#include <wrench_cone.h>

List of all members.

Public Member Functions
void	addWrenches (Eigen::Matrix< double, 6, Eigen::Dynamic > const &wrenches)
uint	getId () const
uint	getNumPrimitiveWrenches () const
Eigen::Matrix< double, 6, Eigen::Dynamic > const *	getWrenches () const
Eigen::Matrix< double, 6, Eigen::Dynamic > *	getWrenches ()
WrenchCone &	operator= (WrenchCone const &src)
void	scaleWrenches (double scale)
void	scaleWrenchTorques (double scale)
void	setId (uint id)
void	setWrenches (Eigen::Matrix< double, 6, Eigen::Dynamic > const &wrenches)
	WrenchCone ()
	WrenchCone (uint id)
	WrenchCone (uint id, Eigen::Matrix< double, 6, Eigen::Dynamic > const &cone)
	WrenchCone (WrenchCone const &src)
	~WrenchCone ()
Private Attributes
Eigen::Matrix< double, 6, Eigen::Dynamic >	cone_
uint	id_
uint	num_primitive_wrenches_
Friends
class	IndependentContactRegions
std::ostream &	operator<< (std::ostream &stream, WrenchCone const &wrench_cone)

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Detailed Description

Holds a matrix of prmimitve wrenches; The wrench cone id is the same as the id of the corresponding contact point.

Definition at line 15 of file wrench_cone.h.

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Constructor & Destructor Documentation

ICR::WrenchCone::WrenchCone

(

)

Definition at line 8 of file wrench_cone.cpp.

ICR::WrenchCone::WrenchCone

(

uint

id

)

Definition at line 10 of file wrench_cone.cpp.

ICR::WrenchCone::WrenchCone	(	uint	id,
		Eigen::Matrix< double, 6, Eigen::Dynamic > const &	cone
	)

Definition at line 12 of file wrench_cone.cpp.

ICR::WrenchCone::WrenchCone

(

WrenchCone const &

src

)

Definition at line 14 of file wrench_cone.cpp.

ICR::WrenchCone::~WrenchCone

(

)

Definition at line 38 of file wrench_cone.cpp.

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Member Function Documentation

void ICR::WrenchCone::addWrenches

(

Eigen::Matrix< double, 6, Eigen::Dynamic > const &

wrenches

)

Definition at line 56 of file wrench_cone.cpp.

uint ICR::WrenchCone::getId

(

)

const

Definition at line 71 of file wrench_cone.cpp.

uint ICR::WrenchCone::getNumPrimitiveWrenches

(

)

const

Definition at line 44 of file wrench_cone.cpp.

Eigen::Matrix< double, 6, Eigen::Dynamic > const * ICR::WrenchCone::getWrenches

(

)

const

Definition at line 40 of file wrench_cone.cpp.

Eigen::Matrix< double, 6, Eigen::Dynamic > * ICR::WrenchCone::getWrenches

(

)

Definition at line 42 of file wrench_cone.cpp.

WrenchCone & ICR::WrenchCone::operator=

(

WrenchCone const &

src

)

Definition at line 16 of file wrench_cone.cpp.

void ICR::WrenchCone::scaleWrenches

(

double

scale

)

Definition at line 46 of file wrench_cone.cpp.

void ICR::WrenchCone::scaleWrenchTorques

(

double

scale

)

Definition at line 51 of file wrench_cone.cpp.

void ICR::WrenchCone::setId

(

uint

id

)

Definition at line 69 of file wrench_cone.cpp.

void ICR::WrenchCone::setWrenches

(

Eigen::Matrix< double, 6, Eigen::Dynamic > const &

wrenches

)

Definition at line 63 of file wrench_cone.cpp.

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Friends And Related Function Documentation

friend class IndependentContactRegions [friend]

Definition at line 27 of file wrench_cone.h.

std::ostream& operator<<	(	std::ostream &	stream,
		WrenchCone const &	wrench_cone
	)		[friend]

Definition at line 27 of file wrench_cone.cpp.

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Member Data Documentation

Eigen::Matrix<double,6,Eigen::Dynamic> ICR::WrenchCone::cone_ [private]

Definition at line 20 of file wrench_cone.h.

uint ICR::WrenchCone::id_ [private]

Definition at line 21 of file wrench_cone.h.

uint ICR::WrenchCone::num_primitive_wrenches_ [private]

Definition at line 19 of file wrench_cone.h.

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

• wrench_cone.h
• wrench_cone.cpp