represents both translational and rotational acceleration. More...
#include <frames.hpp>
Public Member Functions  
double &  operator() (int i) 
indexbased 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) 
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.

inline 
Does initialise force and torque to zero via the underlying constructor of Vector.
Definition at line 886 of file frames.hpp.
Definition at line 887 of file frames.hpp.

inline 
indexbased access to components, first force(0..2), then torque(3..5)
Definition at line 224 of file frames.hpp.

inline 
indexbased 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.
Definition at line 217 of file frames.hpp.
Definition at line 210 of file frames.hpp.

inline 
Definition at line 900 of file frames.hpp.

inline 
Definition at line 905 of file frames.hpp.
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.

inline 
Reverses the sign of the current Wrench.
Definition at line 192 of file frames.hpp.

inlinestatic 
Definition at line 186 of file frames.hpp.
do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an epsinterval
Definition at line 1038 of file frames.hpp.

friend 
Definition at line 952 of file frames.hpp.
The literal inequality operator!=().
Definition at line 1318 of file frames.hpp.
Scalar multiplication.
Definition at line 243 of file frames.hpp.
Scalar multiplication.
Definition at line 248 of file frames.hpp.
Definition at line 259 of file frames.hpp.
Definition at line 264 of file frames.hpp.
An unary  operator.
Definition at line 270 of file frames.hpp.
Scalar division.
Definition at line 253 of file frames.hpp.
The literal equality operator==(), also identical.
Definition at line 1309 of file frames.hpp.

friend 
Definition at line 951 of file frames.hpp.

friend 
Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.
Definition at line 1069 of file frames.hpp.
Vector KDL::Wrench::force 
Force that is applied at the origin of the current ref frame.
Definition at line 881 of file frames.hpp.
Vector KDL::Wrench::torque 
Torque that is applied at the origin of the current ref frame.
Definition at line 882 of file frames.hpp.