Public Member Functions | Private Attributes | List of all members
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

◆ Stiffness() [1/3]

KDL::Stiffness::Stiffness ( )

Definition at line 39 of file stiffness.hpp.

◆ Stiffness() [2/3]

KDL::Stiffness::Stiffness ( double *  d)

Definition at line 47 of file stiffness.hpp.

◆ Stiffness() [3/3]

KDL::Stiffness::Stiffness ( double  x,
double  y,
double  z,
double  rx,
double  ry,
double  rz 

Definition at line 55 of file stiffness.hpp.

Member Function Documentation

◆ Inverse()

Twist KDL::Stiffness::Inverse ( const Wrench w) const

Definition at line 69 of file stiffness.hpp.

◆ operator[]() [1/2]

double& KDL::Stiffness::operator[] ( int  i)

Definition at line 63 of file stiffness.hpp.

◆ operator[]() [2/2]

double KDL::Stiffness::operator[] ( int  i) const

Definition at line 66 of file stiffness.hpp.

Member Data Documentation

◆ data

double KDL::Stiffness::data[6]

Definition at line 37 of file stiffness.hpp.

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

autogenerated on Wed Jul 1 2020 03:17:40