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.
	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. 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.

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(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
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

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.

References force, and torque.

Referenced by Equal.

◆ Wrench() [2/2]

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

inline

Definition at line 843 of file frames.hpp.

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)

Definition at line 244 of file frames.hpp.

References b, eps, and Frame.

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 253 of file frames.hpp.

References b, and eps.

◆ operator+=()

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

inline

Definition at line 237 of file frames.hpp.

References v.

◆ operator-=()

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

inline

Definition at line 230 of file frames.hpp.

References eps, and KDL::epsilon.

◆ 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.

◆ 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 218 of file frames.hpp.

References v.

◆ ReverseSign()

void Wrench::ReverseSign ( )

inline

Reverses the sign of the current Wrench.

Definition at line 212 of file frames.hpp.

References rhs.

◆ Zero()

Wrench Wrench::Zero ( )

inlinestatic

Returns: a zero Wrench

Definition at line 206 of file frames.hpp.

References rhs.

◆ 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

Definition at line 1081 of file frames.hpp.

References b, Frame, IMETHOD, Rotation, and Wrench().

◆ Frame

friend class Frame

friend

Definition at line 908 of file frames.hpp.

References Frame.

Referenced by Equal, Frame, and operator()().

◆ operator!=

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

friend

The literal inequality operator!=().

Definition at line 1393 of file frames.hpp.

◆ operator* [1/2]

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

friend

Scalar multiplication.

Definition at line 263 of file frames.hpp.

References eps, and KDL::epsilon.

◆ operator* [2/2]

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

friend

Scalar multiplication.

Definition at line 268 of file frames.hpp.

◆ operator+

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

friend

Definition at line 279 of file frames.hpp.

◆ operator- [1/2]

Wrench operator- ( const Wrench & arg )

friend

An unary - operator.

Definition at line 290 of file frames.hpp.

◆ operator- [2/2]

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

friend

Definition at line 284 of file frames.hpp.

◆ operator/

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

friend

Scalar division.

Definition at line 273 of file frames.hpp.

◆ operator==

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

friend

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

Definition at line 1384 of file frames.hpp.

◆ Rotation

friend class Rotation

friend

Definition at line 907 of file frames.hpp.

Referenced by Equal.

◆ SetToZero

void SetToZero ( Wrench & v )

friend

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

Definition at line 1112 of file frames.hpp.

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 Wrench(), and Wrench().

◆ 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 Wrench(), and Wrench().

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Wrench() [1/2]

◆ Wrench() [2/2]

Member Function Documentation

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ RefPoint()

◆ ReverseSign()

◆ Zero()

Friends And Related Symbol Documentation

◆ Equal

◆ Frame

◆ operator!=

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator==

◆ Rotation

◆ SetToZero

Member Data Documentation

◆ force

◆ torque