All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
JointWrench.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Specification of a contact
18  * Author: Nate Koenig
19  * Date: 10 Nov 2009
20  */
21 
22 #ifndef _JOINT_WRENCH_HH_
23 #define _JOINT_WRENCH_HH_
24 
25 #include "gazebo/math/Vector3.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
39  {
43  public: JointWrench &operator =(const JointWrench &_wrench)
44  {
45  this->body1Force = _wrench.body1Force;
46  this->body2Force = _wrench.body2Force;
47 
48  this->body1Torque = _wrench.body1Torque;
49  this->body2Torque = _wrench.body2Torque;
50  return *this;
51  }
52 
56  public: inline JointWrench &operator +(const JointWrench &_wrench)
57  {
58  this->body1Force += _wrench.body1Force;
59  this->body2Force += _wrench.body2Force;
60 
61  this->body1Torque += _wrench.body1Torque;
62  this->body2Torque += _wrench.body2Torque;
63  return *this;
64  }
65 
69  public: inline JointWrench &operator -(const JointWrench &_wrench)
70  {
71  this->body1Force -= _wrench.body1Force;
72  this->body2Force -= _wrench.body2Force;
73 
74  this->body1Torque -= _wrench.body1Torque;
75  this->body2Torque -= _wrench.body2Torque;
76  return *this;
77  }
78 
81 
84 
87 
90  };
92  }
93 }
94 #endif