47 #ifndef _MIRA_WRENCH_H_ 48 #define _MIRA_WRENCH_H_ 52 namespace mira {
namespace robot {
60 template <
typename ScalarType>
67 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
84 template<
typename Reflector>
87 r.property(
"Force",
force,
"The force");
88 r.property(
"Torque",
torque,
"The torque");
101 template <
typename ScalarType>
108 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
125 template<
typename Reflector>
128 r.property(
"Force",
force,
"The force");
129 r.property(
"Torque",
torque,
"The torque");
151 template<
typename ScalarType>
163 template<
typename ScalarType>
void reflect(Reflector &r)
Definition: Wrench.h:85
Wrench class.
Definition: Wrench.h:61
Wrench3< float > Wrench3f
3D Wrench
Definition: Wrench.h:177
VectorType torque
The torque.
Definition: Wrench.h:138
VectorType force
The force.
Definition: Wrench.h:136
Wrench2< double > Wrench2d
Definition: Wrench.h:174
Wrench3< ScalarType > operator*(const Pose3 &trans, const Wrench3< ScalarType > &w)
The * operator simply rotates the vectors of force and torque into another frame. ...
Definition: Wrench.h:152
void reflect(Reflector &r)
Definition: Wrench.h:126
Wrench2< float > Wrench2f
2D Wrench
Definition: Wrench.h:173
Wrench3< double > Wrench3d
Definition: Wrench.h:178
Wrench2()
Definition: Wrench.h:72
ScalarType torque
The torque.
Definition: Wrench.h:97
VectorType force
The force.
Definition: Wrench.h:95
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 ...
Definition: Wrench.h:164
Wrench2(const VectorType &f, ScalarType t)
Construct a new wrench object.
Definition: Wrench.h:79
Wrench3()
Definition: Wrench.h:113
Wrench3(const VectorType &f, const VectorType &t)
Construct a new wrench object.
Definition: Wrench.h:120