JointWrench Class Reference

Wrench information from a joint. More...

#include <physics/physics.hh>

Public Member Functions
JointWrench &	operator+ (const JointWrench &_wrench)
	Operator +. More...
JointWrench &	operator- (const JointWrench &_wrench)
	Operator -. More...
JointWrench &	operator= (const JointWrench &_wrench)
	Operator =. More...

Public Attributes
math::Vector3	body1Force
	Force on the first link. More...
math::Vector3	body1Torque
	Torque on the first link. More...
math::Vector3	body2Force
	Force on the second link. More...
math::Vector3	body2Torque
	Torque on the second link. More...

Detailed Description

Wrench information from a joint.

These are forces and torques on parent and child Links, relative to the Joint frame immediately after rotation.

Member Function Documentation

operator+()

JointWrench& operator+ ( const JointWrench &  _wrench )

inline

Operator +.

Parameters

[in]

_wrench

Joint wrench to add

Returns

*this

References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

operator-()

JointWrench& operator- ( const JointWrench &  _wrench )

inline

Operator -.

Parameters

[in]

_wrench

Joint wrench to subtract

Returns

*this

References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

operator=()

JointWrench& operator= ( const JointWrench &  _wrench )

inline

Operator =.

Parameters

[in]

_wrench

Joint wrench to set from.

Returns

*this

References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

Member Data Documentation

body1Force

math::Vector3 body1Force

Force on the first link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

body1Torque

math::Vector3 body1Torque

Torque on the first link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

body2Force

math::Vector3 body2Force

Force on the second link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

body2Torque

math::Vector3 body2Torque

Torque on the second link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

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

• JointWrench.hh