JointWrench.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Specification of a contact
 * Author: Nate Koenig
 * Date: 10 Nov 2009
 */

#ifndef _JOINT_WRENCH_HH_
#define _JOINT_WRENCH_HH_

#include "gazebo/math/Vector3.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GAZEBO_VISIBLE JointWrench
    {
      public: JointWrench &operator =(const JointWrench &_wrench)
              {
                this->body1Force = _wrench.body1Force;
                this->body2Force = _wrench.body2Force;

                this->body1Torque = _wrench.body1Torque;
                this->body2Torque = _wrench.body2Torque;
                return *this;
              }

      public: inline JointWrench &operator +(const JointWrench &_wrench)
              {
                this->body1Force += _wrench.body1Force;
                this->body2Force += _wrench.body2Force;

                this->body1Torque += _wrench.body1Torque;
                this->body2Torque += _wrench.body2Torque;
                return *this;
              }

      public: inline JointWrench &operator -(const JointWrench &_wrench)
              {
                this->body1Force -= _wrench.body1Force;
                this->body2Force -= _wrench.body2Force;

                this->body1Torque -= _wrench.body1Torque;
                this->body2Torque -= _wrench.body2Torque;
                return *this;
              }

      public: math::Vector3 body1Force;

      public: math::Vector3 body2Force;

      public: math::Vector3 body1Torque;

      public: math::Vector3 body2Torque;
    };
  }
}
#endif