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...
 
JointWrenchoperator= (const JointWrench &_wrench)
 Operator =. More...
 

Public Attributes

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

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.

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.

JointWrench& operator= ( const JointWrench _wrench)
inline

Operator =.

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

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

Member Data Documentation

math::Vector3 body1Force

Force on the first link.

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

math::Vector3 body1Torque

Torque on the first link.

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

math::Vector3 body2Force

Force on the second link.

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

math::Vector3 body2Torque

Torque on the second link.

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


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