KDL::Stiffness Class Reference

`#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.

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