KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <src/frames.hpp>

Collaboration diagram for KDL::Wrench:

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
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

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)
bool	Equal (const Wrench &a, const Wrench &b, double eps=epsilon)
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!=().

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

Constructor & Destructor Documentation

Wrench() [1/2]

KDL::Wrench::Wrench ( )

inline

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

References force, and torque.

Wrench() [2/2]

KDL::Wrench::Wrench ( const Vector & _force, const Vector & _torque )

inline

References force, and torque.

Member Function Documentation

operator()() [1/2]

double & Wrench::operator() ( int i )

inline

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

operator()() [2/2]

double 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

operator+=()

Wrench & Wrench::operator+= ( const Wrench & arg )

inline

operator-=()

Wrench & Wrench::operator-= ( const Wrench & arg )

inline

operator[]() [1/2]

double & KDL::Wrench::operator[] ( int index )

inline

operator[]() [2/2]

double KDL::Wrench::operator[] ( int index ) const

inline

RefPoint()

Wrench 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

ReverseSign()

void Wrench::ReverseSign ( )

inline

Reverses the sign of the current Wrench.

References KDL::Vector::operator()().

Zero()

Wrench Wrench::Zero ( )

inlinestatic

Returns

a zero Wrench

References KDL::Vector::operator()().

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

Friends And Related Symbol Documentation

Equal

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

Frame

friend class Frame

friend

References Frame.

Referenced by Frame, and operator/.

operator!=

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

friend

The literal inequality operator!=().

operator* [1/2]

Wrench operator* ( const Wrench & lhs, double rhs )

friend

Scalar multiplication.

operator* [2/2]

Wrench operator* ( double lhs, const Wrench & rhs )

friend

Scalar multiplication.

operator+

Wrench operator+ ( const Wrench & lhs, const Wrench & rhs )

friend

operator- [1/2]

Wrench operator- ( const Wrench & arg )

friend

An unary - operator.

operator- [2/2]

Wrench operator- ( const Wrench & lhs, const Wrench & rhs )

friend

operator/

Wrench operator/ ( const Wrench & lhs, double rhs )

friend

Scalar division.

References Frame.

operator==

bool operator== ( const Wrench & a, const Wrench & b )

friend

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

Rotation

friend class Rotation

friend

References Rotation.

Referenced by Rotation.

SetToZero

void SetToZero ( Wrench & v )

friend

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

Member Data Documentation

force

Vector KDL::Wrench::force

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

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ArticulatedBodyInertia::operator*, KDL::operator<<(), KDL::operator>>(), Wrench(), and Wrench().

torque

Vector KDL::Wrench::torque

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

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ArticulatedBodyInertia::operator*, KDL::operator<<(), KDL::operator>>(), Wrench(), and Wrench().

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

• src/frames.hpp
• src/frames.inl