Public Member Functions | Static Public Member Functions | Public Attributes | Friends | List of all members
KDL::Wrench Class Reference

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
 
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. 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 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)

Definition at line 224 of file frames.hpp.

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

Definition at line 233 of file frames.hpp.

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

Definition at line 217 of file frames.hpp.

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

Definition at line 210 of file frames.hpp.

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

Definition at line 198 of file frames.hpp.

void KDL::Wrench::ReverseSign ( )
inline

Reverses the sign of the current Wrench.

Definition at line 192 of file frames.hpp.

Wrench KDL::Wrench::Zero ( )
inlinestatic
Returns
a zero Wrench

Definition at line 186 of file frames.hpp.

Friends And Related Function Documentation

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 1038 of file frames.hpp.

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!=().

Definition at line 1318 of file frames.hpp.

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

Scalar multiplication.

Definition at line 243 of file frames.hpp.

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

Scalar multiplication.

Definition at line 248 of file frames.hpp.

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

Definition at line 259 of file frames.hpp.

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

Definition at line 264 of file frames.hpp.

Wrench operator- ( const Wrench arg)
friend

An unary - operator.

Definition at line 270 of file frames.hpp.

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

Scalar division.

Definition at line 253 of file frames.hpp.

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

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

Definition at line 1309 of file frames.hpp.

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.

Definition at line 1069 of file frames.hpp.

Member Data Documentation

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.


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


orocos_kdl
Author(s):
autogenerated on Sat Mar 24 2018 02:11:07