Wrench< _Scalar > Class Template Reference

Class describing a Wrench. More...

#include <Wrench.h>

Inheritance diagram for Wrench< _Scalar >:

Public Types
typedef Base::BaseType	BaseType
typedef internal::traits< Wrench >::Coefficients	Coefficients
Public Types inherited from WrenchBase< Wrench< _Scalar > >
typedef Base::BaseType	BaseType
typedef internal::traits< Wrench< _Scalar > >::Coefficients	Coefficients
typedef Matrix< Scalar, 3, 1 >	Force
typedef LieAlgebraDual< Matrix< Scalar, 3, 1 > >	Torque
Public Types inherited from LieAlgebraDualBase< Matrix< internal::traits< Wrench< _Scalar > >::Scalar, 6, 1 >, Wrench< _Scalar > >
typedef LieAlgebra< BaseType >	Algebra
typedef Matrix< internal::traits< Wrench< _Scalar > >::Scalar, 6, 1 >	BaseType
typedef internal::traits< Wrench< _Scalar > >::Coefficients	Coefficients
typedef internal::traits< Wrench< _Scalar > >::Group	Group
typedef LieAlgebraDual< BaseType >	PlainObject

Public Member Functions
Coefficients &	get ()
const Coefficients &	get () const
template<typename OtherDerived >
EIGEN_STRONG_INLINE Wrench &	operator= (const MatrixBase< OtherDerived > &other)
	Wrench ()
	Wrench (const Wrench &g)
	Wrench (const BaseType &g)
	Wrench (const typename Base::PlainObject &g)
	Wrench (Scalar tx, Scalar ty, Scalar tz, Scalar fx, Scalar fy, Scalar fz)
template<typename OtherDerived >
EIGEN_STRONG_INLINE	Wrench (const MatrixBase< OtherDerived > &other)
	Wrench (const typename Base::Torque &t, const typename Base::Force &f)
Public Member Functions inherited from WrenchBase< Wrench< _Scalar > >
Wrench< Scalar >	changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &) const
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 ()
Public Member Functions inherited from LieAlgebraDualBase< Matrix< internal::traits< Wrench< _Scalar > >::Scalar, 6, 1 >, Wrench< _Scalar > >
const Wrench< _Scalar > &	derived () const
Wrench< _Scalar > &	derived ()
Coefficients &	get ()
const Coefficients &	get () const
EIGEN_STRONG_INLINE LieAlgebraDualBase &	operator= (const LieAlgebraDualBase &other)
EIGEN_STRONG_INLINE Wrench< _Scalar > &	operator= (const LieAlgebraDualBase< BaseType, OtherDerived > &other)

Protected Types
typedef WrenchBase< Wrench< _Scalar > >	Base
Protected Types inherited from WrenchBase< Wrench< _Scalar > >
typedef LieAlgebraDualBase< Matrix< typename internal::traits< Wrench< _Scalar > >::Scalar, 6, 1 >, Wrench< _Scalar > >	Base
Protected Types inherited from LieAlgebraDualBase< Matrix< internal::traits< Wrench< _Scalar > >::Scalar, 6, 1 >, Wrench< _Scalar > >
typedef MatrixBase< Wrench< _Scalar > >	Base

Protected Attributes
Coefficients	m_coeffs

Detailed Description

template<typename _Scalar>
class Wrench< _Scalar >

Class describing a Wrench.

Template Parameters

_Scalar

the type of the underlying array

This class add some specific constructors

See also

The methods are defined in LieAlgebraBase and WrenchBase

Definition at line 135 of file Wrench.h.

Member Typedef Documentation

template<typename _Scalar>

typedef WrenchBase<Wrench<_Scalar> > Wrench< _Scalar >::Base

protected

Definition at line 137 of file Wrench.h.

template<typename _Scalar>

typedef Base::BaseType Wrench< _Scalar >::BaseType

The inherited class

Definition at line 145 of file Wrench.h.

template<typename _Scalar>

typedef internal::traits<Wrench>::Coefficients Wrench< _Scalar >::Coefficients

the stored coefficients

Definition at line 147 of file Wrench.h.

Constructor & Destructor Documentation

template<typename _Scalar>

Wrench< _Scalar >::Wrench ( )

inline

Default constructor

Definition at line 151 of file Wrench.h.

template<typename _Scalar>

Wrench< _Scalar >::Wrench ( const Wrench< _Scalar > &  g )

inline

Copy constructor

Definition at line 153 of file Wrench.h.

template<typename _Scalar>

Wrench< _Scalar >::Wrench ( const BaseType &  g )

inline

Copy constructor

Definition at line 155 of file Wrench.h.

template<typename _Scalar>

Wrench< _Scalar >::Wrench ( const typename Base::PlainObject &  g )

inline

Copy constructor

Definition at line 157 of file Wrench.h.

template<typename _Scalar>

Wrench< _Scalar >::Wrench ( Scalar  tx, Scalar  ty, Scalar  tz, Scalar  fx, Scalar  fy, Scalar  fz  )

inline

Constructs an element of se(3) from 6 scalar

Definition at line 159 of file Wrench.h.

template<typename _Scalar>

template<typename OtherDerived >

EIGEN_STRONG_INLINE Wrench< _Scalar >::Wrench ( const MatrixBase< OtherDerived > &  other )

inline

Copy constructor : need to build a twist from a CWiseBinaryOp or CWiseUnaryOp

Definition at line 164 of file Wrench.h.

template<typename _Scalar>

Wrench< _Scalar >::Wrench ( const typename Base::Torque &  t, const typename Base::Force &  f  )

inline

Constructs Twist from torque t and a force f

Definition at line 176 of file Wrench.h.

Member Function Documentation

template<typename _Scalar>

Coefficients& Wrench< _Scalar >::get ( )

inline

Returns

The stored coefficients

Definition at line 181 of file Wrench.h.

template<typename _Scalar>

const Coefficients& Wrench< _Scalar >::get ( ) const

inline

Returns

The read-only access to the stored coefficients

Definition at line 183 of file Wrench.h.

template<typename _Scalar>

template<typename OtherDerived >

EIGEN_STRONG_INLINE Wrench& Wrench< _Scalar >::operator= ( const MatrixBase< OtherDerived > &  other )

inline

Assignement operator : need to copy a CWiseBinaryOp or CWiseUnaryOp to a Twist

Definition at line 170 of file Wrench.h.

Member Data Documentation

template<typename _Scalar>

Coefficients Wrench< _Scalar >::m_coeffs

protected

The wrapped coefficients

Definition at line 187 of file Wrench.h.

---

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

• Wrench.h