#include <stiffness.hpp>
Public Member Functions | |
Twist | Inverse (const Wrench &w) const |
double & | operator[] (int i) |
double | operator[] (int i) const |
Stiffness () | |
Stiffness (double *d) | |
Stiffness (double x, double y, double z, double rx, double ry, double rz) | |
Private Attributes | |
double | data [6] |
Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided...
Implements a diagonal stiffness matrix. first 3 elements are stiffness for translations last 3 elements are stiffness for rotations.
Definition at line 36 of file stiffness.hpp.
KDL::Stiffness::Stiffness | ( | ) | [inline] |
Definition at line 39 of file stiffness.hpp.
KDL::Stiffness::Stiffness | ( | double * | d | ) | [inline] |
Definition at line 47 of file stiffness.hpp.
KDL::Stiffness::Stiffness | ( | double | x, |
double | y, | ||
double | z, | ||
double | rx, | ||
double | ry, | ||
double | rz | ||
) | [inline] |
Definition at line 55 of file stiffness.hpp.
Twist KDL::Stiffness::Inverse | ( | const Wrench & | w | ) | const [inline] |
Definition at line 69 of file stiffness.hpp.
double& KDL::Stiffness::operator[] | ( | int | i | ) | [inline] |
Definition at line 63 of file stiffness.hpp.
double KDL::Stiffness::operator[] | ( | int | i | ) | const [inline] |
Definition at line 66 of file stiffness.hpp.
double KDL::Stiffness::data[6] [private] |
Definition at line 37 of file stiffness.hpp.