KDL  1.4.0
Public Member Functions | Private Attributes | List of all members
KDL::Stiffness Class Reference

Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided... More...

#include <src/stiffness.hpp>

Public Member Functions

 Stiffness ()
 
 Stiffness (double *d)
 
 Stiffness (double x, double y, double z, double rx, double ry, double rz)
 
double & operator[] (int i)
 
double operator[] (int i) const
 
Twist Inverse (const Wrench &w) const
 

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.

Constructor & Destructor Documentation

§ Stiffness() [1/3]

KDL::Stiffness::Stiffness ( )
inline

§ Stiffness() [2/3]

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

§ Stiffness() [3/3]

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

Member Function Documentation

§ Inverse()

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

§ operator[]() [1/2]

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

§ operator[]() [2/2]

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

Member Data Documentation

§ data

double KDL::Stiffness::data[6]
private

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