KDL::Stiffness Class Reference

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

#include <stiffness.hpp>

List of all members.

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

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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.

Definition at line 36 of file stiffness.hpp.

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Constructor & Destructor Documentation

KDL::Stiffness::Stiffness

(

)

[inline]

Definition at line 39 of file stiffness.hpp.

KDL::Stiffness::Stiffness

(

double *

d

)

[inline]

Definition at line 47 of file stiffness.hpp.

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

Definition at line 55 of file stiffness.hpp.

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Member Function Documentation

Twist KDL::Stiffness::Inverse

(

const Wrench &

w

)

const [inline]

Definition at line 69 of file stiffness.hpp.

References RobotExample::t.

double KDL::Stiffness::operator[]

(

int

i

)

const [inline]

Definition at line 66 of file stiffness.hpp.

double& KDL::Stiffness::operator[]

(

int

i

)

[inline]

Definition at line 63 of file stiffness.hpp.

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

• stiffness.hpp