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) | |

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. | |

Wrench () | |

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

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. | |

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) |

class | Frame |

bool | operator!= (const Wrench &a, const Wrench &b) |

The literal inequality operator!=(). | |

Wrench | operator* (const Wrench &lhs, double rhs) |

Scalar multiplication. | |

Wrench | operator* (double lhs, const Wrench &rhs) |

Scalar multiplication. | |

Wrench | operator+ (const Wrench &lhs, const Wrench &rhs) |

Wrench | operator- (const Wrench &lhs, const Wrench &rhs) |

Wrench | operator- (const Wrench &arg) |

An unary - operator. | |

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) |

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.

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.

double& KDL::Wrench::operator() | ( | int | i | ) | ` [inline]` |

index-based access to components, first force(0..2), then torque(3..5)

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

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

void KDL::Wrench::ReverseSign | ( | ) | ` [inline]` |

Reverses the sign of the current Wrench.

static Wrench KDL::Wrench::Zero | ( | ) | ` [inline, static]` |

**Returns:**- a zero Wrench

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

friend class Frame` [friend]` |

Definition at line 952 of file frames.hpp.

The literal inequality operator!=().

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

friend class Rotation` [friend]` |

Definition at line 951 of file frames.hpp.

Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.

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

Definition at line 881 of file frames.hpp.

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: