KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <src/frames.hpp>

Collaboration diagram for KDL::Wrench:

[legend]

List of all members.

Public Member Functions
	Wrench ()
	Does initialise force and torque to zero via the underlying constructor of Vector.
	Wrench (const Vector &_force, const Vector &_torque)
Wrench &	operator-= (const Wrench &arg)
Wrench &	operator+= (const Wrench &arg)
double &	operator() (int i)
	index-based access to components, first force(0..2), then torque(3..5)
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 index) const
double &	operator[] (int index)
void	ReverseSign ()
	Reverses the sign of the current Wrench.
Wrench	RefPoint (const Vector &v_base_AB) const
	Changes the reference point of the wrench.
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
class	Rotation
class	Frame
Wrench	operator* (const Wrench &lhs, double rhs)
	Scalar multiplication.
Wrench	operator* (double lhs, const Wrench &rhs)
	Scalar multiplication.
Wrench	operator/ (const Wrench &lhs, double rhs)
	Scalar division.
Wrench	operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench	operator- (const Wrench &lhs, const Wrench &rhs)
Wrench	operator- (const Wrench &arg)
	An unary - operator.
void	SetToZero (Wrench &v)
	Sets the Wrench to Zero, to have a uniform function that sets an object or double to zero.
bool	Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
	do not use operator == because the definition of Equal(.,.
bool	operator== (const Wrench &a, const Wrench &b)
	The literal equality operator==(), also identical.
bool	operator!= (const Wrench &a, const Wrench &b)
	The literal inequality operator!=().

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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

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Constructor & Destructor Documentation

KDL::Wrench::Wrench

(

)

[inline]

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

KDL::Wrench::Wrench	(	const Vector &	_force,
		const Vector &	_torque
	)			[inline]

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Member Function Documentation

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

double & KDL::Wrench::operator()

(

int

i

)

[inline]

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

Referenced by operator[]().

Wrench & KDL::Wrench::operator+=

(

const Wrench &

arg

)

[inline]

Wrench & KDL::Wrench::operator-=

(

const Wrench &

arg

)

[inline]

double& KDL::Wrench::operator[]

(

int

index

)

[inline]

References operator()().

double KDL::Wrench::operator[]

(

int

index

)

const [inline]

References operator()().

Wrench KDL::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

void KDL::Wrench::ReverseSign

(

)

[inline]

Reverses the sign of the current Wrench.

Wrench KDL::Wrench::Zero

(

)

[inline, static]

Returns:

a zero Wrench

Referenced by KDL::ChainDynParam::ChainDynParam().

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Friends And Related Function Documentation

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

friend class Frame [friend]

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

The literal inequality operator!=().

Wrench operator*	(	double	lhs,
		const Wrench &	rhs
	)			[friend]

Scalar multiplication.

Wrench operator*	(	const Wrench &	lhs,
		double	rhs
	)			[friend]

Scalar multiplication.

Wrench operator+	(	const Wrench &	lhs,
		const Wrench &	rhs
	)			[friend]

Wrench operator-

(

const Wrench &

arg

)

[friend]

An unary - operator.

Wrench operator-	(	const Wrench &	lhs,
		const Wrench &	rhs
	)			[friend]

Wrench operator/	(	const Wrench &	lhs,
		double	rhs
	)			[friend]

Scalar division.

bool operator==	(	const Wrench &	a,
		const Wrench &	b
	)			[friend]

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

friend class Rotation [friend]

void SetToZero

(

Wrench &

v

)

[friend]

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

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Member Data Documentation

Vector KDL::Wrench::force

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

Referenced by KDL::operator*().

Vector KDL::Wrench::torque

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

Referenced by KDL::operator*().

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

• src/frames.hpp
• src/frames.cpp