represents both translational and rotational acceleration. More...
#include <frames.hpp>
Public Member Functions | |
| double | operator() (int i) const |
| index-based access to components, first force(0..2), then torque(3..5) for use with a const Wrench | |
| double & | operator() (int i) |
| index-based access to components, first force(0..2), then torque(3..5) | |
| Wrench & | operator+= (const Wrench &arg) |
| Wrench & | operator-= (const Wrench &arg) |
| double & | operator[] (int index) |
| double | operator[] (int index) const |
| Wrench | RefPoint (const Vector &v_base_AB) const |
| Changes the reference point of the wrench. | |
| void | ReverseSign () |
| Reverses the sign of the current Wrench. | |
| Wrench (const Vector &_force, const Vector &_torque) | |
| Wrench () | |
| Does initialise force and torque to zero via the underlying constructor of Vector. | |
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=epsilon) |
| do not use operator == because the definition of Equal(.,. | |
| class | Frame |
| bool | operator!= (const Wrench &a, const Wrench &b) |
| The literal inequality operator!=(). | |
| Wrench | operator* (double lhs, const Wrench &rhs) |
| Scalar multiplication. | |
| Wrench | operator* (const Wrench &lhs, double rhs) |
| Scalar multiplication. | |
| Wrench | operator+ (const Wrench &lhs, const Wrench &rhs) |
| Wrench | operator- (const Wrench &arg) |
| An unary - operator. | |
| Wrench | operator- (const Wrench &lhs, const Wrench &rhs) |
| 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) |
| Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero. | |
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 826 of file frames.hpp.
| KDL::Wrench::Wrench | ( | ) | [inline] |
Does initialise force and torque to zero via the underlying constructor of Vector.
Definition at line 834 of file frames.hpp.
Referenced by Zero().
Definition at line 835 of file frames.hpp.
| 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
Definition at line 227 of file frames.inl.
| double & KDL::Wrench::operator() | ( | int | i | ) | [inline] |
index-based access to components, first force(0..2), then torque(3..5)
Definition at line 218 of file frames.inl.
Referenced by operator[]().
Definition at line 211 of file frames.inl.
Definition at line 204 of file frames.inl.
| double& KDL::Wrench::operator[] | ( | int | index | ) | [inline] |
Definition at line 853 of file frames.hpp.
References operator()().
| double KDL::Wrench::operator[] | ( | int | index | ) | const [inline] |
Definition at line 848 of file frames.hpp.
References operator()().
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
Definition at line 192 of file frames.inl.
| void KDL::Wrench::ReverseSign | ( | ) | [inline] |
Reverses the sign of the current Wrench.
Definition at line 186 of file frames.inl.
References force, KDL::Vector::ReverseSign(), and torque.
| Wrench KDL::Wrench::Zero | ( | ) | [inline, static] |
Definition at line 180 of file frames.inl.
References Wrench(), and KDL::Vector::Zero().
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 900 of file frames.hpp.
The literal inequality operator!=().
The literal equality operator==(), also identical.
friend class Rotation [friend] |
Definition at line 899 of file frames.hpp.
| void SetToZero | ( | Wrench & | v | ) | [friend] |
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 829 of file frames.hpp.
Referenced by KDL::addDelta(), KDL::diff(), KDL::dot(), KDL::Equal(), KDL::Rotation::Inverse(), KDL::Frame::Inverse(), operator()(), KDL::Frame::operator*(), KDL::operator*(), KDL::operator+(), operator+=(), KDL::operator-(), operator-=(), KDL::operator/(), KDL::operator==(), KDL::posrandom(), KDL::random(), ReverseSign(), and KDL::SetToZero().
Torque that is applied at the origin of the current ref frame.
Definition at line 830 of file frames.hpp.
Referenced by KDL::addDelta(), KDL::diff(), KDL::dot(), KDL::Equal(), KDL::Rotation::Inverse(), KDL::Frame::Inverse(), operator()(), KDL::Frame::operator*(), KDL::operator*(), KDL::operator+(), operator+=(), KDL::operator-(), operator-=(), KDL::operator/(), KDL::operator==(), KDL::posrandom(), KDL::random(), ReverseSign(), and KDL::SetToZero().
1.6.1