Base class describing a Wrench. More...
#include <Wrench.h>
Inheritance diagram for WrenchBase< Derived >:
Public Types | |
| typedef Base::BaseType | BaseType |
| typedef internal::traits < Derived >::Coefficients | Coefficients |
| typedef Matrix< Scalar, 3, 1 > | Force |
| typedef LieAlgebraDual< Matrix < Scalar, 3, 1 > > | Torque |
Public Member Functions | |
| template<class RotationDerived > | |
| Wrench< Scalar > | changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &) const |
| template<class OtherDerived > | |
| Wrench< Scalar > | changePoint (const MatrixBase< OtherDerived > &point) const |
| Scalar | fx () const |
| Scalar & | fx () |
| Scalar | fy () const |
| Scalar & | fy () |
| Scalar | fz () const |
| Scalar & | fz () |
| Map< Force > | getForce () |
| Map< const Force > | getForce () const |
| Map< Torque > | getTorque () |
| Map< const Torque > | getTorque () const |
| Scalar | tx () const |
| Scalar & | tx () |
| Scalar | ty () const |
| Scalar & | ty () |
| Scalar | tz () const |
| Scalar & | tz () |
Protected Types | |
| typedef LieAlgebraDualBase < Matrix< typename internal::traits< Derived > ::Scalar, 6, 1 >, Derived > | Base |
Detailed Description
template<class Derived>
class WrenchBase< Derived >
Base class describing a Wrench.
- Template Parameters:
-
Derived the derived class holding the coefficients which are of type Matrix<Scalar, 6, 1> or Map<Matrix<Scalar, 6, 1> >
This class abstracts the underlying mathematical definition and add some accessors. A wrench has two part, a torque and a force. It uses an Matrix internally to store its coefficients.
Member Typedef Documentation
template<class Derived>
typedef LieAlgebraDualBase<Matrix<typename internal::traits<Derived>::Scalar, 6, 1>, Derived> WrenchBase< Derived >::Base [protected] |
The inherited class
Reimplemented from LieAlgebraDualBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >.
Reimplemented in Map< Wrench< _Scalar >, MapOptions, StrideType >, and Wrench< _Scalar >.
template<class Derived>
| typedef Base::BaseType WrenchBase< Derived >::BaseType |
The wrapped class
Reimplemented from LieAlgebraDualBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >.
Reimplemented in Wrench< _Scalar >.
template<class Derived>
| typedef internal::traits<Derived>::Coefficients WrenchBase< Derived >::Coefficients |
The kind of stored coefficients
Reimplemented from LieAlgebraDualBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >.
Reimplemented in Map< Wrench< _Scalar >, MapOptions, StrideType >, and Wrench< _Scalar >.
template<class Derived>
| typedef Matrix<Scalar, 3, 1> WrenchBase< Derived >::Force |
template<class Derived>
| typedef LieAlgebraDual<Matrix<Scalar, 3, 1> > WrenchBase< Derived >::Torque |
Member Function Documentation
template<class Derived >
template<class RotationDerived >
| Wrench< typename internal::traits< WrenchBase< Derived > >::Scalar > WrenchBase< Derived >::changeFrame | ( | const LieGroupBase< Quaternion< Scalar >, RotationDerived > & | rot | ) | const [inline] |
template<class Derived >
template<class OtherDerived >
| Wrench< typename internal::traits< WrenchBase< Derived > >::Scalar > WrenchBase< Derived >::changePoint | ( | const MatrixBase< OtherDerived > & | point | ) | const [inline] |
template<class Derived>
| Scalar WrenchBase< Derived >::fx | ( | ) | const [inline] |
template<class Derived>
| Scalar& WrenchBase< Derived >::fx | ( | ) | [inline] |
template<class Derived>
| Scalar WrenchBase< Derived >::fy | ( | ) | const [inline] |
template<class Derived>
| Scalar& WrenchBase< Derived >::fy | ( | ) | [inline] |
template<class Derived>
| Scalar WrenchBase< Derived >::fz | ( | ) | const [inline] |
template<class Derived>
| Scalar& WrenchBase< Derived >::fz | ( | ) | [inline] |
template<class Derived>
| Map<Force> WrenchBase< Derived >::getForce | ( | ) | [inline] |
template<class Derived>
| Map<const Force> WrenchBase< Derived >::getForce | ( | ) | const [inline] |
template<class Derived>
| Map<Torque> WrenchBase< Derived >::getTorque | ( | ) | [inline] |
template<class Derived>
| Map<const Torque> WrenchBase< Derived >::getTorque | ( | ) | const [inline] |
template<class Derived>
| Scalar WrenchBase< Derived >::tx | ( | ) | const [inline] |
template<class Derived>
| Scalar& WrenchBase< Derived >::tx | ( | ) | [inline] |
template<class Derived>
| Scalar WrenchBase< Derived >::ty | ( | ) | const [inline] |
template<class Derived>
| Scalar& WrenchBase< Derived >::ty | ( | ) | [inline] |
template<class Derived>
| Scalar WrenchBase< Derived >::tz | ( | ) | const [inline] |
template<class Derived>
| Scalar& WrenchBase< Derived >::tz | ( | ) | [inline] |
The documentation for this class was generated from the following file: