|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectus.ihmc.utilities.screwTheory.SpatialForceVector
us.ihmc.utilities.screwTheory.Wrench
public class Wrench
Field Summary |
---|
Fields inherited from class us.ihmc.utilities.screwTheory.SpatialForceVector |
---|
AXIS_NAMES, SIZE |
Constructor Summary | |
---|---|
Wrench()
Default constructor. |
|
Wrench(ReferenceFrame bodyFrame,
ReferenceFrame expressedInFrame)
Initializes the components of the wrench to zero |
|
Wrench(ReferenceFrame bodyFrame,
ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F wrench)
Construct using a Matrix ([torque; force]) |
|
Wrench(ReferenceFrame bodyFrame,
ReferenceFrame expressedInFrame,
double[] wrench)
Construct using a double array ([torque; force]) |
|
Wrench(ReferenceFrame bodyFrame,
ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d force,
javax.vecmath.Vector3d torque)
|
|
Wrench(Wrench other)
Copy constructor |
Method Summary | |
---|---|
void |
add(Wrench other)
Adds another wrench to this one, after performing some reference frame checks. |
void |
changeBodyFrameAttachedToSameBody(ReferenceFrame bodyFrame)
|
void |
checkAndSet(Wrench other)
|
double |
dot(Twist twist)
Takes the dot product of this wrench and a twist, resulting in the (reference frame independent) instantaneous power. |
ReferenceFrame |
getBodyFrame()
|
double |
getLinearPartX()
|
double |
getLinearPartY()
|
double |
getLinearPartZ()
|
void |
set(Wrench other)
|
void |
setToZero(ReferenceFrame bodyFrame,
ReferenceFrame expressedInFrame)
|
void |
sub(Wrench other)
Subtracts another wrench from this one, after performing some reference frame checks. |
java.lang.String |
toString()
|
Methods inherited from class us.ihmc.utilities.screwTheory.SpatialForceVector |
---|
add, addAngularPart, addLinearPart, changeFrame, checkAndSet, createUsingArm, getAngularPartAsFrameVectorCopy, getAngularPartCopy, getExpressedInFrame, getLinearPartAsFrameVectorCopy, getLinearPartCopy, negate, packAngularPart, packAngularPart, packLinearPart, packLinearPart, packMatrix, packMatrix, packMatrixColumn, scale, scaleAngularPart, scaleLinearPart, set, set, set, set, setAngularPart, setAngularPartX, setAngularPartY, setAngularPartZ, setLinearPart, setLinearPartX, setLinearPartY, setLinearPartZ, setToZero, setUsingArm, sub, subAngularPart, subLinearPart, times, toDenseMatrix |
Methods inherited from class java.lang.Object |
---|
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
---|
public Wrench(ReferenceFrame bodyFrame, ReferenceFrame expressedInFrame)
bodyFrame
- the frame/body on which the wrench is exertedexpressedInFrame
- the frame in which the wrench is expressedpublic Wrench(ReferenceFrame bodyFrame, ReferenceFrame expressedInFrame, javax.vecmath.Vector3d force, javax.vecmath.Vector3d torque)
bodyFrame
- the frame/body on which the wrench is exertedexpressedInFrame
- the frame in which the wrench is expressedforce
- force part of the wrenchtorque
- torque part of the wrenchpublic Wrench(ReferenceFrame bodyFrame, ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F wrench)
public Wrench(ReferenceFrame bodyFrame, ReferenceFrame expressedInFrame, double[] wrench)
public Wrench(Wrench other)
public Wrench()
Method Detail |
---|
public ReferenceFrame getBodyFrame()
public void checkAndSet(Wrench other)
public void set(Wrench other)
public void setToZero(ReferenceFrame bodyFrame, ReferenceFrame expressedInFrame)
public void add(Wrench other)
public void sub(Wrench other)
public void changeBodyFrameAttachedToSameBody(ReferenceFrame bodyFrame)
public double dot(Twist twist)
twist
- a twist that
1) has an 'ofWhat' reference frame that is the same as this wrench's 'bodyFrame' reference frame.
2) is expressed in the same reference frame as this wrench
public java.lang.String toString()
toString
in class SpatialForceVector
public double getLinearPartX()
public double getLinearPartY()
public double getLinearPartZ()
|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |