JointWrench Class Reference

Wrench information from a joint. More...

#include <physics/physics.hh>

Public Member Functions

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

Public Attributes

ignition::math::Vector3d body1Force
 Force on the first link. More...
 
ignition::math::Vector3d body1Torque
 Torque on the first link. More...
 
ignition::math::Vector3d body2Force
 Force on the second link. More...
 
ignition::math::Vector3d 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]_wrenchJoint 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]_wrenchJoint wrench to subtract
Returns
*this

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

Member Data Documentation

◆ body1Force

ignition::math::Vector3d body1Force

Force on the first link.

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

◆ body1Torque

ignition::math::Vector3d body1Torque

Torque on the first link.

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

◆ body2Force

ignition::math::Vector3d body2Force

Force on the second link.

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

◆ body2Torque

ignition::math::Vector3d body2Torque

Torque on the second link.

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


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