KDL::Wrench Class Reference

represents both translational and rotational acceleration. More...

#include <frames.hpp>

Public Member Functions
double &	operator() (int i)
	index-based access to components, first force(0..2), then torque(3..5) More...
double	operator() (int i) const
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
void	ReverseSign ()
	Reverses the sign of the current Wrench. More...
	Wrench ()
	Does initialise force and torque to zero via the underlying constructor of Vector. More...
	Wrench (const Vector &_force, const Vector &_torque)

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

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 881 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 889 of file frames.hpp.

Wrench() [2/2]

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

inline

Definition at line 890 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 223 of file frames.inl.

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 232 of file frames.inl.

operator+=()

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

inline

Definition at line 216 of file frames.inl.

operator-=()

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

inline

Definition at line 209 of file frames.inl.

operator[]() [1/2]

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

inline

Definition at line 908 of file frames.hpp.

operator[]() [2/2]

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

inline

Definition at line 903 of file frames.hpp.

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 197 of file frames.inl.

ReverseSign()

void Wrench::ReverseSign ( )

inline

Reverses the sign of the current Wrench.

Definition at line 191 of file frames.inl.

Zero()

Wrench Wrench::Zero ( )

inlinestatic

Returns

a zero Wrench

Definition at line 185 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 955 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 954 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 884 of file frames.hpp.

torque

Vector KDL::Wrench::torque

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

Definition at line 885 of file frames.hpp.

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

• frames.hpp
• frames.inl