Wrench information from a joint. More...
#include <physics/physics.hh>
Public Member Functions  
JointWrench &  operator+ (const JointWrench &_wrench) 
Operator +. More...  
JointWrench &  operator (const JointWrench &_wrench) 
Operator . More...  
JointWrench &  operator= (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...  
Wrench information from a joint.
These are forces and torques on parent and child Links, relative to the Joint frame immediately after rotation.

inline 
Operator +.
[in]  _wrench  Joint wrench to add 
References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

inline 
Operator .
[in]  _wrench  Joint wrench to subtract 
References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

inline 
Operator =.
[in]  _wrench  Joint wrench to set from. 
References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.
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=().