KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <frames.hpp>

List of all members.

Public Member Functions
double	operator() (int i) const
double &	operator() (int i)
	index-based access to components, first force(0..2), then torque(3..5)
Wrench &	operator+= (const Wrench &arg)
Wrench &	operator-= (const Wrench &arg)
double &	operator[] (int index)
double	operator[] (int index) const
Wrench	RefPoint (const Vector &v_base_AB) const
void	ReverseSign ()
	Reverses the sign of the current Wrench.
	Wrench (const Vector &_force, const Vector &_torque)
	Wrench ()
	Does initialise force and torque to zero via the underlying constructor of Vector.
Static Public Member Functions
static Wrench	Zero ()
Public Attributes
Vector	force
	Force that is applied at the origin of the current ref frame.
Vector	torque
	Torque that is applied at the origin of the current ref frame.
Friends
bool	Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
class	Frame
bool	operator!= (const Wrench &a, const Wrench &b)
	The literal inequality operator!=().
Wrench	operator* (double lhs, const Wrench &rhs)
	Scalar multiplication.
Wrench	operator* (const Wrench &lhs, double rhs)
	Scalar multiplication.
Wrench	operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench	operator- (const Wrench &arg)
	An unary - operator.
Wrench	operator- (const Wrench &lhs, const Wrench &rhs)
Wrench	operator/ (const Wrench &lhs, double rhs)
	Scalar division.
bool	operator== (const Wrench &a, const Wrench &b)
	The literal equality operator==(), also identical.
class	Rotation
void	SetToZero (Wrench &v)

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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 869 of file frames.hpp.

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Constructor & Destructor Documentation

KDL::Wrench::Wrench

(

)

[inline]

Does initialise force and torque to zero via the underlying constructor of Vector.

Definition at line 877 of file frames.hpp.

KDL::Wrench::Wrench	(	const Vector &	_force,
		const Vector &	_torque
	)			[inline]

Definition at line 878 of file frames.hpp.

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Member Function Documentation

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.cpp.

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.cpp.

Wrench & KDL::Wrench::operator+=

(

const Wrench &

arg

)

[inline]

Definition at line 217 of file frames.cpp.

Wrench & KDL::Wrench::operator-=

(

const Wrench &

arg

)

[inline]

Definition at line 210 of file frames.cpp.

double& KDL::Wrench::operator[]

(

int

index

)

[inline]

Definition at line 896 of file frames.hpp.

double KDL::Wrench::operator[]

(

int

index

)

const [inline]

Definition at line 891 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.cpp.

void KDL::Wrench::ReverseSign

(

)

[inline]

Reverses the sign of the current Wrench.

Definition at line 192 of file frames.cpp.

Wrench KDL::Wrench::Zero

(

)

[inline, static]

Returns:

a zero Wrench

Definition at line 186 of file frames.cpp.

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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.cpp.

friend class Frame [friend]

Definition at line 943 of file frames.hpp.

bool operator!=	(	const Wrench &	a,
		const Wrench &	b
	)			[friend]

The literal inequality operator!=().

Definition at line 1318 of file frames.cpp.

Wrench operator*	(	double	lhs,
		const Wrench &	rhs
	)			[friend]

Scalar multiplication.

Definition at line 248 of file frames.cpp.

Wrench operator*	(	const Wrench &	lhs,
		double	rhs
	)			[friend]

Scalar multiplication.

Definition at line 243 of file frames.cpp.

Wrench operator+	(	const Wrench &	lhs,
		const Wrench &	rhs
	)			[friend]

Definition at line 259 of file frames.cpp.

Wrench operator-

(

const Wrench &

arg

)

[friend]

An unary - operator.

Definition at line 270 of file frames.cpp.

Wrench operator-	(	const Wrench &	lhs,
		const Wrench &	rhs
	)			[friend]

Definition at line 264 of file frames.cpp.

Wrench operator/	(	const Wrench &	lhs,
		double	rhs
	)			[friend]

Scalar division.

Definition at line 253 of file frames.cpp.

bool operator==	(	const Wrench &	a,
		const Wrench &	b
	)			[friend]

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

Definition at line 1309 of file frames.cpp.

friend class Rotation [friend]

Definition at line 942 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.cpp.

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Member Data Documentation

Vector KDL::Wrench::force

Force that is applied at the origin of the current ref frame.

Definition at line 872 of file frames.hpp.

Vector KDL::Wrench::torque

Torque that is applied at the origin of the current ref frame.

Definition at line 873 of file frames.hpp.

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

• frames.hpp
• frames.cpp