22 #ifndef KDL_STIFFNESS_H 23 #define KDL_STIFFNESS_H 55 Stiffness(
double x,
double y,
double z,
double rx,
double ry,
double rz) {
ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition: articulatedbodyinertia.cpp:55
represents both translational and rotational velocities.
Definition: frames.hpp:720
Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations p...
Definition: stiffness.hpp:36
Definition: articulatedbodyinertia.cpp:28
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:51
IMETHOD void posrandom(Vector &a)
Definition: frames.hpp:1237
Stiffness(double x, double y, double z, double rx, double ry, double rz)
Definition: stiffness.hpp:55
Stiffness(double *d)
Definition: stiffness.hpp:47
double & operator[](int i)
Definition: stiffness.hpp:63
represents both translational and rotational acceleration.
Definition: frames.hpp:878
double data[6]
Definition: stiffness.hpp:37
double operator[](int i) const
Definition: stiffness.hpp:66
Stiffness()
Definition: stiffness.hpp:39
Twist Inverse(const Wrench &w) const
Definition: stiffness.hpp:69
IMETHOD void random(Vector &a)
addDelta operator for displacement rotational velocity.
Definition: frames.hpp:1208