Public Member Functions | Static Public Member Functions | Public Attributes | Friends
KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <frames.hpp>

List of all members.

Public Member Functions

double & operator() (int i)
 index-based access to components, first force(0..2), then torque(3..5)
double operator() (int i) const
Wrenchoperator+= (const Wrench &arg)
Wrenchoperator-= (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.
 Wrench ()
 Does initialise force and torque to zero via the underlying constructor of Vector.
 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.
Vector torque
 Torque that is applied at the origin of the current ref frame.

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!=().
Wrench operator* (const Wrench &lhs, double rhs)
 Scalar multiplication.
Wrench operator* (double lhs, const Wrench &rhs)
 Scalar multiplication.
Wrench operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &arg)
 An unary - operator.
Wrench operator/ (const Wrench &lhs, double rhs)
 Scalar division.
bool operator== (const Wrench &a, const Wrench &b)
 The literal equality operator==(), also identical.
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 878 of file frames.hpp.


Constructor & Destructor Documentation

KDL::Wrench::Wrench ( ) [inline]

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

Definition at line 886 of file frames.hpp.

KDL::Wrench::Wrench ( const Vector _force,
const Vector _torque 
) [inline]

Definition at line 887 of file frames.hpp.


Member Function Documentation

double& KDL::Wrench::operator() ( int  i) [inline]

index-based access to components, first force(0..2), then torque(3..5)

double KDL::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

Wrench& KDL::Wrench::operator+= ( const Wrench arg) [inline]
Wrench& KDL::Wrench::operator-= ( const Wrench arg) [inline]
double KDL::Wrench::operator[] ( int  index) const [inline]

Definition at line 900 of file frames.hpp.

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

Definition at line 905 of file frames.hpp.

Wrench KDL::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

void KDL::Wrench::ReverseSign ( ) [inline]

Reverses the sign of the current Wrench.

static Wrench KDL::Wrench::Zero ( ) [inline, static]
Returns:
a zero Wrench

Friends And Related Function Documentation

bool Equal ( const Wrench a,
const Wrench b,
double  eps 
) [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

friend class Frame [friend]

Definition at line 952 of file frames.hpp.

bool operator!= ( const Wrench a,
const Wrench b 
) [friend]

The literal inequality operator!=().

Wrench operator* ( const Wrench lhs,
double  rhs 
) [friend]

Scalar multiplication.

Wrench operator* ( double  lhs,
const Wrench rhs 
) [friend]

Scalar multiplication.

Wrench operator+ ( const Wrench lhs,
const Wrench rhs 
) [friend]
Wrench operator- ( const Wrench lhs,
const Wrench rhs 
) [friend]
Wrench operator- ( const Wrench arg) [friend]

An unary - operator.

Wrench operator/ ( const Wrench lhs,
double  rhs 
) [friend]

Scalar division.

bool operator== ( const Wrench a,
const Wrench b 
) [friend]

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

friend class Rotation [friend]

Definition at line 951 of file frames.hpp.

void SetToZero ( Wrench v) [friend]

Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.


Member Data Documentation

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

Definition at line 881 of file frames.hpp.

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

Definition at line 882 of file frames.hpp.


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


orocos_kdl
Author(s):
autogenerated on Sat Jul 21 2018 03:48:45