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gazebo::physics::JointWrench Class Reference

Wrench information from a joint. More...

#include <physics/physics.hh>

Public Member Functions

JointWrenchoperator+ (const JointWrench &_wrench)
 Operator +.
JointWrenchoperator- (const JointWrench &_wrench)
 Operator -.
JointWrenchoperator= (const JointWrench &_wrench)
 Operator =.

Public Attributes

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

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

JointWrench& gazebo::physics::JointWrench::operator+ ( const JointWrench _wrench)
inline

Operator +.

Parameters
[in]_wrenchJoint wrench to add
Returns
*this

References body1Force, body1Torque, body2Force, and body2Torque.

JointWrench& gazebo::physics::JointWrench::operator- ( const JointWrench _wrench)
inline

Operator -.

Parameters
[in]_wrenchJoint wrench to subtract
Returns
*this

References body1Force, body1Torque, body2Force, and body2Torque.

JointWrench& gazebo::physics::JointWrench::operator= ( const JointWrench _wrench)
inline

Operator =.

Parameters
[in]_wrenchJoint wrench to set from.
Returns
*this

References body1Force, body1Torque, body2Force, and body2Torque.

Member Data Documentation

math::Vector3 gazebo::physics::JointWrench::body1Force

Force on the first link.

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

math::Vector3 gazebo::physics::JointWrench::body1Torque

Torque on the first link.

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

math::Vector3 gazebo::physics::JointWrench::body2Force

Force on the second link.

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

math::Vector3 gazebo::physics::JointWrench::body2Torque

Torque on the second link.

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


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