Kindr
Kinematics and Dynamics for Robotics
WrenchBase.hpp
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1 /*
2  * Copyright (c) 2017, Christian Gehring, Hannes Sommer, Paul Furgale, Remo Diethelm
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28 /*
29  * WrenchBase.hpp
30  *
31  * Created on: Jan 31, 2017
32  * Author: Christian Gehring
33  */
34 
35 #pragma once
36 
37 namespace kindr {
38 
39 template<typename Derived_>
40 class WrenchBase {
41  public:
46  WrenchBase() = default;
47 
51  WrenchBase(const Derived_&) = delete; // on purpose!!
52 
58  operator Derived_& () {
59  return static_cast<Derived_&>(*this);
60  }
61 
67  operator const Derived_& () const {
68  return static_cast<const Derived_&>(*this);
69  }
70 
76  const Derived_& derived() const {
77  return static_cast<const Derived_&>(*this);
78  }
79 
83  Derived_& setZero();
84 };
85 
86 } // namespace
const Derived_ & derived() const
Gets the derived.
Definition: WrenchBase.hpp:76
WrenchBase()=default
Default constructor.
Derived_ & setZero()
Sets wrench to zero.