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]

Detailed Description

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.

Constructor & Destructor Documentation

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.

Member Function Documentation

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.

Member Data Documentation

double KDL::Stiffness::data[6]

private

Definition at line 37 of file stiffness.hpp.

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

• stiffness.hpp