KDL  1.4.0
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 <src/frames.hpp>

Collaboration diagram for KDL::Wrench:
Collaboration graph
[legend]

Public Member Functions

 Wrench ()
 Does initialise force and torque to zero via the underlying constructor of Vector. More...
 
 Wrench (const Vector &_force, const Vector &_torque)
 
Wrenchoperator-= (const Wrench &arg)
 
Wrenchoperator+= (const Wrench &arg)
 
double & operator() (int i)
 index-based access to components, first force(0..2), then torque(3..5) More...
 
double operator() (int i) const
 index-based access to components, first force(0..2), then torque(3..5) for use with a const Wrench More...
 
double operator[] (int index) const
 
double & operator[] (int index)
 
void ReverseSign ()
 Reverses the sign of the current Wrench. More...
 
Wrench RefPoint (const Vector &v_base_AB) const
 Changes the reference point of the wrench. More...
 

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

class Rotation
 
class Frame
 
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, double rhs)
 Scalar division. 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...
 
void SetToZero (Wrench &v)
 Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero. More...
 
bool Equal (const Wrench &a, const Wrench &b, double eps)
 do not use operator == because the definition of Equal(.,.) is slightly different. More...
 
bool operator== (const Wrench &a, const Wrench &b)
 The literal equality operator==(), also identical. More...
 
bool operator!= (const Wrench &a, const Wrench &b)
 The literal inequality operator!=(). More...
 

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

Constructor & Destructor Documentation

§ Wrench() [1/2]

KDL::Wrench::Wrench ( )
inline

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

§ Wrench() [2/2]

KDL::Wrench::Wrench ( const Vector _force,
const Vector _torque 
)
inline

Member Function Documentation

§ operator()() [1/2]

double & Wrench::operator() ( int  i)
inline

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

§ operator()() [2/2]

double 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

§ operator+=()

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

§ operator-=()

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

§ operator[]() [1/2]

double KDL::Wrench::operator[] ( int  index) const
inline

§ operator[]() [2/2]

double& KDL::Wrench::operator[] ( int  index)
inline

§ RefPoint()

Wrench 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

§ ReverseSign()

void Wrench::ReverseSign ( )
inline

Reverses the sign of the current Wrench.

§ Zero()

Wrench Wrench::Zero ( )
inlinestatic

Friends And Related Function Documentation

§ Equal

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

§ Frame

friend class Frame
friend

§ operator!=

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

The literal inequality operator!=().

§ operator* [1/2]

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

Scalar multiplication.

§ operator* [2/2]

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

Scalar multiplication.

§ operator+

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

§ operator- [1/2]

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

§ operator- [2/2]

Wrench operator- ( const Wrench arg)
friend

An unary - operator.

§ operator/

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

Scalar division.

§ operator==

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

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

§ Rotation

friend class Rotation
friend

§ SetToZero

void SetToZero ( Wrench v)
friend

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

Member Data Documentation

§ force

Vector KDL::Wrench::force

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

Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep(), KDL::operator*(), KDL::operator<<(), and KDL::operator>>().

§ torque

Vector KDL::Wrench::torque

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

Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep(), KDL::operator*(), KDL::operator<<(), and KDL::operator>>().


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