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 Types inherited from LieAlgebraDualBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >
typedef LieAlgebra< BaseType >	Algebra

typedef Matrix< internal::traits< Derived >::Scalar, 6, 1 >	BaseType

typedef internal::traits< Derived >::Coefficients	Coefficients

typedef internal::traits< Derived >::Group	Group

typedef LieAlgebraDual< BaseType >	PlainObject

Public Member Functions
template<class RotationDerived >
Wrench< Scalar >	changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &) const

template<class RotationDerived >
Wrench< typename internal::traits< WrenchBase< Derived > >::Scalar >	changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &rot) const

template<class OtherDerived >
Wrench< Scalar >	changePoint (const MatrixBase< OtherDerived > &point) const

template<class OtherDerived >
Wrench< typename internal::traits< WrenchBase< Derived > >::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< Derived >::Scalar, 6, 1 >, Derived >
const Derived &	derived () const

Derived &	derived ()

Coefficients &	get ()

const Coefficients &	get () const

EIGEN_STRONG_INLINE LieAlgebraDualBase &	operator= (const LieAlgebraDualBase &other)

EIGEN_STRONG_INLINE Derived &	operator= (const LieAlgebraDualBase< BaseType, OtherDerived > &other)

Protected Types
typedef LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >	Base

Protected Types inherited from LieAlgebraDualBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >
typedef MatrixBase< 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.

Definition at line 35 of file Wrench.h.

Member Typedef Documentation

template<class Derived>

typedef LieAlgebraDualBase<Matrix<typename internal::traits<Derived>::Scalar, 6, 1>, Derived> WrenchBase< Derived >::Base

protected

The inherited class

Definition at line 38 of file Wrench.h.

template<class Derived>

typedef Base::BaseType WrenchBase< Derived >::BaseType

The wrapped class

Definition at line 46 of file Wrench.h.

template<class Derived>

typedef internal::traits<Derived>::Coefficients WrenchBase< Derived >::Coefficients

The kind of stored coefficients

Definition at line 48 of file Wrench.h.

template<class Derived>

typedef Matrix<Scalar, 3, 1> WrenchBase< Derived >::Force

The type of the force

Definition at line 51 of file Wrench.h.

template<class Derived>

typedef LieAlgebraDual<Matrix<Scalar, 3, 1> > WrenchBase< Derived >::Torque

The type of the torque

Definition at line 53 of file Wrench.h.

Member Function Documentation

template<class Derived>

template<class RotationDerived >

Wrench<Scalar> WrenchBase< Derived >::changeFrame ( const LieGroupBase< Quaternion< Scalar >, RotationDerived > & ) const

inline

template<class Derived>

template<class RotationDerived >

Wrench<typename internal::traits<WrenchBase<Derived> >::Scalar> WrenchBase< Derived >::changeFrame ( const LieGroupBase< Quaternion< Scalar >, RotationDerived > & rot ) const

inline

Definition at line 99 of file Wrench.h.

template<class Derived>

template<class OtherDerived >

Wrench<Scalar> WrenchBase< Derived >::changePoint ( const MatrixBase< OtherDerived > & point ) const

inline

template<class Derived>

template<class OtherDerived >

Wrench<typename internal::traits<WrenchBase<Derived> >::Scalar> WrenchBase< Derived >::changePoint ( const MatrixBase< OtherDerived > & point ) const

inline

Definition at line 107 of file Wrench.h.

template<class Derived>

Scalar WrenchBase< Derived >::fx ( ) const

inline

Returns: the fx coefficient

Definition at line 62 of file Wrench.h.

template<class Derived>

Scalar& WrenchBase< Derived >::fx ( )

inline

Returns: a reference to the fx coefficient

Definition at line 75 of file Wrench.h.

template<class Derived>

Scalar WrenchBase< Derived >::fy ( ) const

inline

Returns: the fy coefficient

Definition at line 64 of file Wrench.h.

template<class Derived>

Scalar& WrenchBase< Derived >::fy ( )

inline

Returns: a reference to the fy coefficient

Definition at line 77 of file Wrench.h.

template<class Derived>

Scalar WrenchBase< Derived >::fz ( ) const

inline

Returns: the tz coefficient

Definition at line 66 of file Wrench.h.

template<class Derived>

Scalar& WrenchBase< Derived >::fz ( )

inline

Returns: a reference to the tz coefficient

Definition at line 79 of file Wrench.h.

template<class Derived>

Map<Force> WrenchBase< Derived >::getForce ( )

inline

The accessor to the force

Definition at line 87 of file Wrench.h.

template<class Derived>

Map<const Force> WrenchBase< Derived >::getForce ( ) const

inline

The read-only accessor to the force

Definition at line 89 of file Wrench.h.

template<class Derived>

Map<Torque> WrenchBase< Derived >::getTorque ( )

inline

The accessor to the torque

Definition at line 83 of file Wrench.h.

template<class Derived>

Map<const Torque> WrenchBase< Derived >::getTorque ( ) const

inline

The read-only accessor to the torque

Definition at line 85 of file Wrench.h.

template<class Derived>

Scalar WrenchBase< Derived >::tx ( ) const

inline

Returns: the tx coefficient

Definition at line 56 of file Wrench.h.

template<class Derived>

Scalar& WrenchBase< Derived >::tx ( )

inline

Returns: a reference to the tx coefficient

Definition at line 69 of file Wrench.h.

template<class Derived>

Scalar WrenchBase< Derived >::ty ( ) const

inline

Returns: the ty coefficient

Definition at line 58 of file Wrench.h.

template<class Derived>

Scalar& WrenchBase< Derived >::ty ( )

inline

Returns: a reference to the ty coefficient

Definition at line 71 of file Wrench.h.

template<class Derived>

Scalar WrenchBase< Derived >::tz ( ) const

inline

Returns: the tz coefficient

Definition at line 60 of file Wrench.h.

template<class Derived>

Scalar& WrenchBase< Derived >::tz ( )

inline

Returns: a reference to the tz coefficient

Definition at line 73 of file Wrench.h.

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

Wrench.h

Public Types

Public Member Functions

Protected Types

Detailed Description

template<class Derived> class WrenchBase< Derived >

Member Typedef Documentation

Member Function Documentation

template<class Derived>
class WrenchBase< Derived >