Kindr
Kinematics and Dynamics for Robotics
kindr::Wrench6< PrimType_ > Class Template Reference

#include <Wrench.hpp>

Inheritance diagram for kindr::Wrench6< PrimType_ >:
Inheritance graph

Public Types

typedef PrimType_ Scalar
 
typedef Vector< PhysicalType::Force, PrimType_, 3 > Force
 
typedef Vector< PhysicalType::Torque, PrimType_, 3 > Torque
 
typedef Eigen::Matrix< PrimType_, 6, 1 > Vector6
 
typedef Eigen::Matrix< PrimType_, 3, 1 > Vector3
 

Public Member Functions

 Wrench6 ()
 
 Wrench6 (const Force &force, const Torque &torque)
 
 Wrench6 (const Vector3 &force, const Vector3 &torque)
 
 Wrench6 (const Vector6 &wrench)
 
virtual ~Wrench6 ()
 
ForcegetForce ()
 
const ForcegetForce () const
 
TorquegetTorque ()
 
const TorquegetTorque () const
 
void setForce (const Force &force)
 
void setTorque (const Torque &torque)
 
void setForce (const Vector3 &force)
 
void setTorque (const Vector3 &torque)
 
void setVector (const Vector6 &wrench)
 
Vector6 getVector () const
 
Wrench6setZero ()
 
Wrench6operator= (const Wrench6 &other)
 Assignment operator. More...
 
Wrench6 operator+ (const Wrench6 &other) const
 Addition of two vectors. More...
 
Wrench6 operator- (const Wrench6 &other) const
 Subtraction of two vectors. More...
 
template<typename PrimTypeFactor_ >
Wrench6 operator* (PrimTypeFactor_ factor) const
 Multiplies vector with a scalar. More...
 
template<typename PrimTypeDivisor_ >
Wrench6 operator/ (PrimTypeDivisor_ divisor) const
 Divides vector by a scalar. More...
 
Wrench6operator+= (const Wrench6 &other)
 Addition and assignment of two vectors. More...
 
Wrench6operator-= (const Wrench6 &other)
 Subtraction and assignment of two vectors. More...
 
template<typename PrimTypeFactor_ >
Wrench6operator*= (PrimTypeFactor_ factor)
 Multiplication with a scalar and assignment. More...
 
template<typename PrimTypeDivisor_ >
Wrench6operator/= (PrimTypeDivisor_ divisor)
 Division by a scalar and assignment. More...
 
Wrench6 operator- () const
 Negation of a vector. More...
 
bool operator== (const Wrench6 &other) const
 Comparison operator. More...
 
- Public Member Functions inherited from kindr::WrenchBase< Wrench6< PrimType_ > >
 WrenchBase ()=default
 Default constructor. More...
 
 WrenchBase (const Wrench6< PrimType_ > &)=delete
 Constructor from derived. This constructor has been deleted because the abstract class does not contain any data. More...
 
 operator Wrench6< PrimType_ > & ()
 Gets the derived. More...
 
 operator const Wrench6< PrimType_ > & () const
 Gets the derived. More...
 
const Wrench6< PrimType_ > & derived () const
 Gets the derived. More...
 
Wrench6< PrimType_ > & setZero ()
 Sets wrench to zero. More...
 

Protected Attributes

Force force_
 
Torque torque_
 

Friends

std::ostream & operator<< (std::ostream &out, const Wrench6 &wrench)
 Used for printing the object with std::cout. More...
 

Detailed Description

template<typename PrimType_>
class kindr::Wrench6< PrimType_ >

Definition at line 44 of file Wrench.hpp.

Member Typedef Documentation

template<typename PrimType_ >
typedef Vector<PhysicalType::Force, PrimType_, 3> kindr::Wrench6< PrimType_ >::Force

Definition at line 47 of file Wrench.hpp.

template<typename PrimType_ >
typedef PrimType_ kindr::Wrench6< PrimType_ >::Scalar

Definition at line 46 of file Wrench.hpp.

template<typename PrimType_ >
typedef Vector<PhysicalType::Torque, PrimType_, 3> kindr::Wrench6< PrimType_ >::Torque

Definition at line 48 of file Wrench.hpp.

template<typename PrimType_ >
typedef Eigen::Matrix<PrimType_, 3, 1> kindr::Wrench6< PrimType_ >::Vector3

Definition at line 50 of file Wrench.hpp.

template<typename PrimType_ >
typedef Eigen::Matrix<PrimType_, 6, 1> kindr::Wrench6< PrimType_ >::Vector6

Definition at line 49 of file Wrench.hpp.

Constructor & Destructor Documentation

template<typename PrimType_ >
kindr::Wrench6< PrimType_ >::Wrench6 ( )
inlineexplicit

Definition at line 52 of file Wrench.hpp.

template<typename PrimType_ >
kindr::Wrench6< PrimType_ >::Wrench6 ( const Force force,
const Torque torque 
)
inlineexplicit

Definition at line 56 of file Wrench.hpp.

template<typename PrimType_ >
kindr::Wrench6< PrimType_ >::Wrench6 ( const Vector3 force,
const Vector3 torque 
)
inlineexplicit

Definition at line 61 of file Wrench.hpp.

template<typename PrimType_ >
kindr::Wrench6< PrimType_ >::Wrench6 ( const Vector6 wrench)
inlineexplicit

Definition at line 66 of file Wrench.hpp.

template<typename PrimType_ >
virtual kindr::Wrench6< PrimType_ >::~Wrench6 ( )
inlinevirtual

Definition at line 71 of file Wrench.hpp.

Member Function Documentation

template<typename PrimType_ >
Force& kindr::Wrench6< PrimType_ >::getForce ( )
inline

Definition at line 75 of file Wrench.hpp.

template<typename PrimType_ >
const Force& kindr::Wrench6< PrimType_ >::getForce ( ) const
inline

Definition at line 79 of file Wrench.hpp.

template<typename PrimType_ >
Torque& kindr::Wrench6< PrimType_ >::getTorque ( )
inline

Definition at line 83 of file Wrench.hpp.

template<typename PrimType_ >
const Torque& kindr::Wrench6< PrimType_ >::getTorque ( ) const
inline

Definition at line 87 of file Wrench.hpp.

template<typename PrimType_ >
Vector6 kindr::Wrench6< PrimType_ >::getVector ( ) const
inline

Definition at line 111 of file Wrench.hpp.

template<typename PrimType_ >
template<typename PrimTypeFactor_ >
Wrench6 kindr::Wrench6< PrimType_ >::operator* ( PrimTypeFactor_  factor) const
inline

Multiplies vector with a scalar.

Parameters
factorfactor
Returns
product

Definition at line 155 of file Wrench.hpp.

template<typename PrimType_ >
template<typename PrimTypeFactor_ >
Wrench6& kindr::Wrench6< PrimType_ >::operator*= ( PrimTypeFactor_  factor)
inline

Multiplication with a scalar and assignment.

Parameters
factorfactor
Returns
reference

Definition at line 193 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6 kindr::Wrench6< PrimType_ >::operator+ ( const Wrench6< PrimType_ > &  other) const
inline

Addition of two vectors.

Parameters
otherother vector
Returns
sum

Definition at line 138 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6& kindr::Wrench6< PrimType_ >::operator+= ( const Wrench6< PrimType_ > &  other)
inline

Addition and assignment of two vectors.

Parameters
otherother vector
Returns
reference

Definition at line 172 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6 kindr::Wrench6< PrimType_ >::operator- ( const Wrench6< PrimType_ > &  other) const
inline

Subtraction of two vectors.

Parameters
otherother vector
Returns
difference

Definition at line 146 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6 kindr::Wrench6< PrimType_ >::operator- ( ) const
inline

Negation of a vector.

Returns
negative vector

Definition at line 213 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6& kindr::Wrench6< PrimType_ >::operator-= ( const Wrench6< PrimType_ > &  other)
inline

Subtraction and assignment of two vectors.

Parameters
otherother vector
Returns
reference

Definition at line 182 of file Wrench.hpp.

template<typename PrimType_ >
template<typename PrimTypeDivisor_ >
Wrench6 kindr::Wrench6< PrimType_ >::operator/ ( PrimTypeDivisor_  divisor) const
inline

Divides vector by a scalar.

Parameters
divisordivisor
Returns
quotient

Definition at line 164 of file Wrench.hpp.

template<typename PrimType_ >
template<typename PrimTypeDivisor_ >
Wrench6& kindr::Wrench6< PrimType_ >::operator/= ( PrimTypeDivisor_  divisor)
inline

Division by a scalar and assignment.

Parameters
divisordivisor
Returns
reference

Definition at line 204 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6& kindr::Wrench6< PrimType_ >::operator= ( const Wrench6< PrimType_ > &  other)
inline

Assignment operator.

Parameters
otherother vector
Returns
reference

Definition at line 128 of file Wrench.hpp.

template<typename PrimType_ >
bool kindr::Wrench6< PrimType_ >::operator== ( const Wrench6< PrimType_ > &  other) const
inline

Comparison operator.

Parameters
otherother vector
Returns
true if equal

Definition at line 221 of file Wrench.hpp.

template<typename PrimType_ >
void kindr::Wrench6< PrimType_ >::setForce ( const Force force)
inline

Definition at line 91 of file Wrench.hpp.

template<typename PrimType_ >
void kindr::Wrench6< PrimType_ >::setForce ( const Vector3 force)
inline

Definition at line 99 of file Wrench.hpp.

template<typename PrimType_ >
void kindr::Wrench6< PrimType_ >::setTorque ( const Torque torque)
inline

Definition at line 95 of file Wrench.hpp.

template<typename PrimType_ >
void kindr::Wrench6< PrimType_ >::setTorque ( const Vector3 torque)
inline

Definition at line 103 of file Wrench.hpp.

template<typename PrimType_ >
void kindr::Wrench6< PrimType_ >::setVector ( const Vector6 wrench)
inline

Definition at line 107 of file Wrench.hpp.

template<typename PrimType_ >
Wrench6& kindr::Wrench6< PrimType_ >::setZero ( )
inline

Definition at line 118 of file Wrench.hpp.

Friends And Related Function Documentation

template<typename PrimType_ >
std::ostream& operator<< ( std::ostream &  out,
const Wrench6< PrimType_ > &  wrench 
)
friend

Used for printing the object with std::cout.

Returns
std::stream object

Definition at line 229 of file Wrench.hpp.

Member Data Documentation

template<typename PrimType_ >
Force kindr::Wrench6< PrimType_ >::force_
protected

Definition at line 234 of file Wrench.hpp.

template<typename PrimType_ >
Torque kindr::Wrench6< PrimType_ >::torque_
protected

Definition at line 235 of file Wrench.hpp.


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