Package org.robwork.sdurw_math

Class Wrench6Df

java.lang.Object

org.robwork.sdurw_math.Wrench6Df

public class Wrench6Df
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.

Constructor Summary

Constructors

Constructor	Description
Wrench6Df()	Default Constructor.
Wrench6Df(float fx, float fy, float fz, float tx, float ty, float tz)	Constructs a 6 degrees of freedom velocity screw
Wrench6Df(long cPtr, boolean cMemoryOwn)
Wrench6Df(Vector3Df force, Vector3Df torque)	Constructs a wrench from a force and torque

Method Summary

Modifier and Type	Method	Description
Wrench6Df	add(Wrench6Df rhs)	Adds two wrenches together \mathbf{w}_{12}=\mathbf{w}_1+\mathbf{w}_2
Wrench6Df	addAssign(Wrench6Df wrench)	Adds the wrench given as a parameter to the wrench. Assumes the wrenches are represented in the same coordinate system.
void	delete()
EigenVector6f	e()	Converter to Eigen data type
boolean	equals(Wrench6Df b)	Compares a and b for equality.
Vector3Df	force()	Extracts the force
float	get(long i)
static long	getCPtr(Wrench6Df obj)
Wrench6Df	multiply(float s)	Scales wrench and returns scaled version
Wrench6Df	multiplyAssign(float s)	Scales wrench with s
float	norm1()	Takes the 1-norm of the wrench.
float	norm2()	Takes the 2-norm of the wrench.
float	normInf()	Takes the infinite norm of the wrench.
boolean	notEqual(Wrench6Df b)	Compares a and b for inequality.
void	set(long i, float d)
void	setForce(Vector3Df force)	Sets the force component
void	setTorque(Vector3Df torque)	Sets the torque component
Wrench6Df	subtract(Wrench6Df rhs)	Subtracts two velocity screws \mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
Wrench6Df	subtractAssign(Wrench6Df wrench)	Subtracts the wrench given as a parameter from the wrench. Assumes the wrenches are represented in the same coordinate system.
Vector3Df	torque()	Extracts the torque and represents it using an Vector3D<T>
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Wrench6Df

public Wrench6Df(long cPtr,
                 boolean cMemoryOwn)

Wrench6Df

public Wrench6Df(float fx,
                 float fy,
                 float fz,
                 float tx,
                 float ty,
                 float tz)

Constructs a 6 degrees of freedom velocity screw

Parameters:

fx - [in] f_x

fy - [in] f_y

fz - [in] f_z

tx - [in] \tau_x

ty - [in] \tau_y

tz - [in] \tau_z

Wrench6Df

public Wrench6Df()

Default Constructor. Initialized the wrench to 0

Wrench6Df

public Wrench6Df(Vector3Df force,
                 Vector3Df torque)

Constructs a wrench from a force and torque

Parameters:

force - [in] linear force

torque - [in] angular torque

Method Detail

getCPtr

public static long getCPtr(Wrench6Df obj)

delete

public void delete()

setForce

public void setForce(Vector3Df force)

Sets the force component

Parameters:

force - [in] linear force

setTorque

public void setTorque(Vector3Df torque)

Sets the torque component

Parameters:

torque - [in] angular torque

force

public Vector3Df force()

Extracts the force

Returns:

the force

torque

public Vector3Df torque()

Extracts the torque and represents it using an Vector3D<T>

Returns:

the torque

get

public float get(long i)

set

public void set(long i,
                float d)

addAssign

public Wrench6Df addAssign(Wrench6Df wrench)

Adds the wrench given as a parameter to the wrench.

Assumes the wrenches are represented in the same coordinate system.

Parameters:

wrench - [in] Wrench to add

Returns:

reference to the Wrench6D to support additional assignments.

subtractAssign

public Wrench6Df subtractAssign(Wrench6Df wrench)

Subtracts the wrench given as a parameter from the wrench.

Assumes the wrenches are represented in the same coordinate system.

Parameters:

wrench - [in] Velocity screw to subtract

Returns:

reference to the Wrench6D to support additional
assignments.

multiplyAssign

public Wrench6Df multiplyAssign(float s)

Scales wrench with s

Parameters:

s - [in] scaling value

Returns:

reference to the Wrench6D to support additional
assigments

multiply

public Wrench6Df multiply(float s)

Scales wrench and returns scaled version

Parameters:

s - [in] scaling value

Returns:

Scaled wrench

add

public Wrench6Df add(Wrench6Df 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}

subtract

public Wrench6Df subtract(Wrench6Df rhs)

Subtracts two velocity screws
\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2

Parameters:

rhs - [in] \mathbf{w}_1

Returns:

the wrench \mathbf{w}_{12}

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

norm1

public float norm1()

Takes the 1-norm of the wrench. All elements both
force and torque are given the same weight.

Returns:

the 1-norm

norm2

public float norm2()

Takes the 2-norm of the wrench. All elements both
force and torque are given the same weight

Returns:

the 2-norm

normInf

public float normInf()

Takes the infinite norm of the wrench. All elements
both force and torque are given the same weight.

Returns:

the infinite norm

e

public EigenVector6f e()

Converter to Eigen data type

equals

public boolean equals(Wrench6Df b)

Compares a and b for equality.

Parameters:

b - [in] other wrench to compare with.

Returns:

True if a equals b, false otherwise.

notEqual

public boolean notEqual(Wrench6Df b)

Compares a and b for inequality.

Parameters:

b - [in] other wrench to compare with.

Returns:

True if a and b are different, false otherwise.