Package org.robwork.sdurw
Class Wrench6Dd
- java.lang.Object
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- org.robwork.sdurw.Wrench6Dd
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public class Wrench6Dd extends java.lang.Object
Class for representing 6 degrees of freedom wrenches.
\mathbf{\nu} = \left[ \begin{array}{c} f_x\\ f_y\\ f_z\\ \tau_x\\ \tau_y\\ \tau_z \end{array} \right]
A Wrench is the description of a frames linear force and rotational torque
with respect to some reference frame.
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Constructor Summary
Constructors Constructor Description Wrench6Dd()
Default Constructor.Wrench6Dd(double fx, double fy, double fz, double tx, double ty, double tz)
Constructs a 6 degrees of freedom velocity screw
Wrench6Dd(long cPtr, boolean cMemoryOwn)
Wrench6Dd(Vector3Dd force, Vector3Dd torque)
Constructs a wrench from a force and torque
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Wrench6Dd
add(Wrench6Dd rhs)
Adds two wrenches together \mathbf{w}_{12}=\mathbf{w}_1+\mathbf{w}_2
void
delete()
EigenVector6d
e()
Converter to Eigen data typeboolean
equals(Wrench6Dd b)
Compares a and b for equality.Vector3Dd
force()
Extracts the force
double
get(long i)
static long
getCPtr(Wrench6Dd obj)
Wrench6Dd
multiply(double s)
Scales wrench and returns scaled versiondouble
norm1()
Takes the 1-norm of the wrench.double
norm2()
Takes the 2-norm of the wrench.double
normInf()
Takes the infinite norm of the wrench.void
set(long i, double d)
void
setForce(Vector3Dd force)
Sets the force component
void
setTorque(Vector3Dd torque)
Sets the torque component
Wrench6Dd
subtract(Wrench6Dd wrench)
Subtracts two velocity screws
\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
Vector3Dd
torque()
Extracts the torque and represents it using an Vector3D<T>
java.lang.String
toString()
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Constructor Detail
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Wrench6Dd
public Wrench6Dd(long cPtr, boolean cMemoryOwn)
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Wrench6Dd
public Wrench6Dd(double fx, double fy, double fz, double tx, double ty, double tz)
Constructs a 6 degrees of freedom velocity screw
- Parameters:
fx
- [in] f_xfy
- [in] f_yfz
- [in] f_ztx
- [in] \tau_xty
- [in] \tau_ytz
- [in] \tau_z
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Wrench6Dd
public Wrench6Dd()
Default Constructor. Initialized the wrench to 0
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Method Detail
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getCPtr
public static long getCPtr(Wrench6Dd obj)
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delete
public void delete()
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setForce
public void setForce(Vector3Dd force)
Sets the force component
- Parameters:
force
- [in] linear force
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setTorque
public void setTorque(Vector3Dd torque)
Sets the torque component
- Parameters:
torque
- [in] angular torque
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force
public Vector3Dd force()
Extracts the force
- Returns:
- the force
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torque
public Vector3Dd torque()
Extracts the torque and represents it using an Vector3D<T>
- Returns:
- the torque
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multiply
public Wrench6Dd multiply(double s)
Scales wrench and returns scaled version- Parameters:
s
- [in] scaling value- Returns:
- Scaled wrench
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add
public Wrench6Dd add(Wrench6Dd rhs)
Adds two wrenches together \mathbf{w}_{12}=\mathbf{w}_1+\mathbf{w}_2
- Parameters:
rhs
- [in] \mathbf{\nu}_1
- Returns:
- the wrench \mathbf{w}_{12}
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subtract
public Wrench6Dd subtract(Wrench6Dd wrench)
Subtracts two velocity screws
\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
- Returns:
- the wrench \mathbf{w}_{12}
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norm1
public double norm1()
Takes the 1-norm of the wrench. All elements both
force and torque are given the same weight.- Returns:
- the 1-norm
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norm2
public double norm2()
Takes the 2-norm of the wrench. All elements both
force and torque are given the same weight- Returns:
- the 2-norm
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normInf
public double normInf()
Takes the infinite norm of the wrench. All elements
both force and torque are given the same weight.
- Returns:
- the infinite norm
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e
public EigenVector6d e()
Converter to Eigen data type
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equals
public boolean equals(Wrench6Dd b)
Compares a and b for equality.- Parameters:
b
- [in] other wrench to compare with.- Returns:
- True if a equals b, false otherwise.
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public double get(long i)
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set
public void set(long i, double d)
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