Blender  V3.3
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KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <frames.hpp>

Public Member Functions

 Wrench ()
 Does initialise force and torque to zero via the underlying constructor of Vector. More...
 
 Wrench (const Vector &_force, const Vector &_torque)
 
Wrenchoperator-= (const Wrench &arg)
 
Wrenchoperator+= (const Wrench &arg)
 
doubleoperator() (int i)
 index-based access to components, first force(0..2), then torque(3..5) More...
 
double operator() (int i) const
 
double operator[] (int index) const
 
doubleoperator[] (int index)
 
void ReverseSign ()
 Reverses the sign of the current Wrench. More...
 
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. More...
 
Vector torque
 Torque that is applied at the origin of the current ref frame. More...
 

Friends

class Rotation
 
class Frame
 
Wrench operator* (const Wrench &lhs, double rhs)
 Scalar multiplication. More...
 
Wrench operator* (double lhs, const Wrench &rhs)
 Scalar multiplication. More...
 
Wrench operator/ (const Wrench &lhs, double rhs)
 Scalar division. More...
 
Wrench operator+ (const Wrench &lhs, const Wrench &rhs)
 
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
 
Wrench operator- (const Wrench &arg)
 An unary - operator. More...
 
void SetToZero (Wrench &v)
 
bool Equal (const Wrench &a, const Wrench &b, double eps)
 
bool operator== (const Wrench &a, const Wrench &b)
 The literal equality operator==(), also identical. More...
 
bool operator!= (const Wrench &a, const Wrench &b)
 The literal inequality operator!=(). More...
 

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

Definition at line 834 of file frames.hpp.

Constructor & Destructor Documentation

◆ Wrench() [1/2]

KDL::Wrench::Wrench ( )
inline

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

Definition at line 842 of file frames.hpp.

◆ Wrench() [2/2]

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

Definition at line 843 of file frames.hpp.

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)

Definition at line 243 of file frames.inl.

Referenced by operator[]().

◆ 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

Definition at line 252 of file frames.inl.

◆ operator+=()

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

Definition at line 236 of file frames.inl.

References force, and torque.

◆ operator-=()

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

Definition at line 229 of file frames.inl.

References force, and torque.

◆ operator[]() [1/2]

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

Definition at line 861 of file frames.hpp.

References operator()().

◆ operator[]() [2/2]

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

Definition at line 856 of file frames.hpp.

References operator()().

◆ 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

Definition at line 217 of file frames.inl.

◆ ReverseSign()

void Wrench::ReverseSign ( )
inline

Reverses the sign of the current Wrench.

Definition at line 211 of file frames.inl.

◆ Zero()

Wrench Wrench::Zero ( )
inlinestatic
Returns
a zero Wrench

Definition at line 205 of file frames.inl.

Friends And Related Function Documentation

◆ Equal

bool Equal ( const Wrench a,
const Wrench b,
double  eps 
)
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

Definition at line 908 of file frames.hpp.

◆ 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.

◆ operator==

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

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

◆ Rotation

friend class Rotation
friend

Definition at line 907 of file frames.hpp.

◆ 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.

Definition at line 837 of file frames.hpp.

Referenced by KDL::Rotation::Inverse(), KDL::Frame::Inverse(), KDL::Frame::operator*(), operator+=(), and operator-=().

◆ torque

Vector KDL::Wrench::torque

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

Definition at line 838 of file frames.hpp.

Referenced by KDL::Rotation::Inverse(), KDL::Frame::Inverse(), KDL::Frame::operator*(), operator+=(), and operator-=().


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