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.
	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

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[](), and 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 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

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

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

• frames.hpp
• frames.inl