Describing force and torque in a link. More...
#include <math/Eigen.h>
Include dependency graph for Wrench.h:
Go to the source code of this file.
Classes | |
| class | Wrench2< ScalarType > |
| Wrench class. More... | |
| class | Wrench3< ScalarType > |
Namespaces | |
| mira | |
| mira::robot | |
Typedefs | |
| typedef Wrench2< float > | Wrench2f |
| 2D Wrench More... | |
| typedef Wrench2< double > | Wrench2d |
| typedef Wrench3< float > | Wrench3f |
| 3D Wrench More... | |
| typedef Wrench3< double > | Wrench3d |
Functions | |
Transformation operators | |
Depending on wether you want to observe a closed system from an external frame or you want to compute the forces resulting from a moment at another frame, you need to add r x M to the force vector before rotating into the target frame. | |
| template<typename ScalarType > | |
| Wrench3< ScalarType > | operator* (const Pose3 &trans, const Wrench3< ScalarType > &w) |
| The * operator simply rotates the vectors of force and torque into another frame. More... | |
| template<typename ScalarType > | |
| Wrench3< ScalarType > | operator^ (const Pose3 &trans, const Wrench3< ScalarType > &w) |
| The ^ operator applies the translation vector of the transform with the given force and computes the resulting moment in the new frame, before it transforms the orientation into the new frame. More... | |
Detailed Description
Describing force and torque in a link.
- Date
- 2019/05/23
