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gazebo
physics
JointWrench.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Specification of a contact
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* Author: Nate Koenig
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* Date: 10 Nov 2009
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*/
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#ifndef _JOINT_WRENCH_HH_
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#define _JOINT_WRENCH_HH_
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#include "
gazebo/math/Vector3.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
JointWrench
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{
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public
:
JointWrench
&
operator =
(
const
JointWrench
&_wrench)
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{
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this->
body1Force
= _wrench.
body1Force
;
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this->
body2Force
= _wrench.
body2Force
;
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this->
body1Torque
= _wrench.
body1Torque
;
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this->
body2Torque
= _wrench.
body2Torque
;
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return
*
this
;
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}
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public
:
inline
JointWrench
&
operator +
(
const
JointWrench
&_wrench)
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{
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this->
body1Force
+= _wrench.
body1Force
;
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this->
body2Force
+= _wrench.
body2Force
;
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this->
body1Torque
+= _wrench.
body1Torque
;
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this->
body2Torque
+= _wrench.
body2Torque
;
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return
*
this
;
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}
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public
:
inline
JointWrench
&
operator -
(
const
JointWrench
&_wrench)
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{
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this->
body1Force
-= _wrench.
body1Force
;
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this->
body2Force
-= _wrench.
body2Force
;
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this->
body1Torque
-= _wrench.
body1Torque
;
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this->
body2Torque
-= _wrench.
body2Torque
;
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return
*
this
;
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}
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public
:
math::Vector3
body1Force
;
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public
:
math::Vector3
body2Force
;
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public
:
math::Vector3
body1Torque
;
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public
:
math::Vector3
body2Torque
;
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};
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}
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}
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#endif