represents both translational and rotational acceleration. More...

#include <frames.hpp>

Public Member Functions
double &	operator() (int i)
	index-based access to components, first force(0..2), then torque(3..5) More...

double	operator() (int i) const

Wrench &	operator+= (const Wrench &arg)

Wrench &	operator-= (const Wrench &arg)

double	operator[] (int index) const

double &	operator[] (int index)

Wrench	RefPoint (const Vector &v_base_AB) const

void	ReverseSign ()
	Reverses the sign of the current Wrench. More...

	Wrench ()
	Does initialise force and torque to zero via the underlying constructor of Vector. More...

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

Static Public Member Functions
static Wrench	Zero ()

Public Attributes
Vector	force
	Force that is applied at the origin of the current ref frame. More...

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

Friends
bool	Equal (const Wrench &a, const Wrench &b, double eps)

class	Frame

bool	operator!= (const Wrench &a, const Wrench &b)
	The literal inequality operator!=(). More...

Wrench	operator* (const Wrench &lhs, double rhs)
	Scalar multiplication. More...

Wrench	operator* (double lhs, const Wrench &rhs)
	Scalar multiplication. More...

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

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

Wrench	operator- (const Wrench &arg)
	An unary - operator. More...

Wrench	operator/ (const Wrench &lhs, double rhs)
	Scalar division. More...

bool	operator== (const Wrench &a, const Wrench &b)
	The literal equality operator==(), also identical. More...

class	Rotation

void	SetToZero (Wrench &v)

Detailed Description

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 881 of file frames.hpp.

Constructor & Destructor Documentation

◆ Wrench() [1/2]

KDL::Wrench::Wrench ( )

inline

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

Definition at line 889 of file frames.hpp.

◆ Wrench() [2/2]

KDL::Wrench::Wrench	(	const Vector &	_force,
		const Vector &	_torque
	)

inline

Definition at line 890 of file frames.hpp.

Member Function Documentation

◆ operator()() [1/2]

double & 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.hpp.

◆ operator()() [2/2]

double 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.hpp.

◆ operator+=()

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

inline

Definition at line 217 of file frames.hpp.

◆ operator-=()

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

inline

Definition at line 210 of file frames.hpp.

◆ operator[]() [1/2]

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

inline

Definition at line 903 of file frames.hpp.

◆ operator[]() [2/2]

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

inline

Definition at line 908 of file frames.hpp.

◆ RefPoint()

Wrench Wrench::RefPoint ( const Vector & v_base_AB ) const

inline

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.hpp.

◆ ReverseSign()

void Wrench::ReverseSign ( )

inline

Reverses the sign of the current Wrench.

Definition at line 192 of file frames.hpp.

◆ Zero()

Wrench Wrench::Zero ( )

inlinestatic

Returns: a zero Wrench

Definition at line 186 of file frames.hpp.

Friends And Related Function Documentation

◆ Equal

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

friend

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 1045 of file frames.hpp.

◆ Frame

friend class Frame

friend

Definition at line 955 of file frames.hpp.

◆ operator!=

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

friend

The literal inequality operator!=().

Definition at line 1325 of file frames.hpp.

◆ operator* [1/2]

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

friend

Scalar multiplication.

Definition at line 243 of file frames.hpp.

◆ operator* [2/2]

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

friend

Scalar multiplication.

Definition at line 248 of file frames.hpp.

◆ operator+

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

friend

Definition at line 259 of file frames.hpp.

◆ operator- [1/2]

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

friend

Definition at line 264 of file frames.hpp.

◆ operator- [2/2]

Wrench operator- ( const Wrench & arg )

friend

An unary - operator.

Definition at line 270 of file frames.hpp.

◆ operator/

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

friend

Scalar division.

Definition at line 253 of file frames.hpp.

◆ operator==

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

friend

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

Definition at line 1316 of file frames.hpp.

◆ Rotation

friend class Rotation

friend

Definition at line 954 of file frames.hpp.

◆ SetToZero

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 1076 of file frames.hpp.

Member Data Documentation

◆ force

Vector KDL::Wrench::force

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

Definition at line 884 of file frames.hpp.

◆ torque

Vector KDL::Wrench::torque

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

Definition at line 885 of file frames.hpp.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Wrench() [1/2]

◆ Wrench() [2/2]

Member Function Documentation

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ RefPoint()

◆ ReverseSign()

◆ Zero()

Friends And Related Function Documentation

◆ Equal

◆ Frame

◆ operator!=

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator==

◆ Rotation

◆ SetToZero

Member Data Documentation

◆ force

◆ torque