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Wrench6D< T > Class Template Reference

Class for representing 6 degrees of freedom wrenches. More...

#include <Wrench6D.hpp>

Public Member Functions

 Wrench6D (T fx, T fy, T fz, T tx, T ty, T tz)
 Constructs a 6 degrees of freedom velocity screw. More...
 
template<class R >
 Wrench6D (const Eigen::MatrixBase< R > &v)
 Constructs based on Eigen data type.
 
 Wrench6D ()
 Default Constructor. Initialized the wrench to 0.
 
 Wrench6D (const Vector3D< T > &force, const Vector3D< T > &torque)
 Constructs a wrench from a force and torque. More...
 
template<class R >
 Wrench6D (const boost::numeric::ublas::vector_expression< R > &r)
 Construct a wrench from a Boost vector expression.
 
void setForce (const Vector3D< T > &force)
 Sets the force component. More...
 
void setTorque (const Vector3D< T > &torque)
 Sets the torque component. More...
 
const Vector3D< T > force () const
 Extracts the force. More...
 
const Vector3D< T > torque () const
 Extracts the torque and represents it using an Vector3D<T> More...
 
T & operator() (std::size_t index)
 Returns reference to wrench element. More...
 
const T & operator() (std::size_t index) const
 Returns const reference to wrench element. More...
 
const T & operator[] (size_t i) const
 
T & operator[] (size_t i)
 
Wrench6D< T > & operator+= (const Wrench6D< T > &wrench)
 Adds the wrench given as a parameter to the wrench. More...
 
Wrench6D< T > & operator-= (const Wrench6D< T > &wrench)
 Subtracts the wrench given as a parameter from the wrench. More...
 
Wrench6D< T > & operator*= (T s)
 Scales wrench with s. More...
 
const Wrench6D< T > operator* (T s) const
 Scales wrench and returns scaled version. More...
 
const Wrench6D< T > operator+ (const Wrench6D< T > &rhs) const
 Adds two wrenches together $ \mathbf{w}_{12}=\mathbf{w}_1+\mathbf{w}_2 $. More...
 
const Wrench6D< T > operator- (const Wrench6D< T > &rhs) const
 Subtracts two velocity screws $\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2$. More...
 
norm1 () const
 Takes the 1-norm of the wrench. All elements both force and torque are given the same weight. More...
 
norm2 () const
 Takes the 2-norm of the wrench. All elements both force and torque are given the same weight. More...
 
normInf () const
 Takes the infinite norm of the wrench. All elements both force and torque are given the same weight. More...
 
boost::numeric::ublas::bounded_vector< T, 6 > m () const
 Converter to Boost type.
 
Eigen::Matrix< T, 6, 1 > e () const
 Converter to Eigen data type.
 
bool operator== (const Wrench6D< T > &b) const
 Compares a and b for equality. More...
 
bool operator!= (const Wrench6D< T > &b) const
 Compares a and b for inequality. More...
 

Friends

const Wrench6D< T > operator* (const Transform3D< T > &aTb, const Wrench6D< T > &bV)
 Changes frame of reference and referencepoint of wrench: $ \robabx{b}{b}{\mathbf{w}}\to \robabx{a}{a}{\mathbf{w}} $. More...
 
const Wrench6D< T > operator* (const Vector3D< T > &aPb, const Wrench6D< T > &bV)
 Changes wrench referencepoint of wrench: $ \robabx{b}{b}{\mathbf{w}}\to \robabx{a}{a}{\mathbf{w}} $. More...
 
const Wrench6D< T > operator* (const Rotation3D< T > &aRb, const Wrench6D< T > &bV)
 Changes frame of reference for wrench: $ \robabx{b}{i}{\mathbf{w}}\to \robabx{a}{i}{\mathbf{w}} $. More...
 
std::ostream & operator<< (std::ostream &os, const Wrench6D< T > &wrench)
 Ouputs wrench to stream. More...
 

Related Functions

(Note that these are not member functions.)

template<>
void write (const rw::math::Wrench6D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
 
template<>
void write (const rw::math::Wrench6D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
 
template<>
void read (rw::math::Wrench6D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
 
template<>
void read (rw::math::Wrench6D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
 

Detailed Description

template<class T = double>
class rw::math::Wrench6D< T >

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 & Destructor Documentation

◆ Wrench6D() [1/2]

Wrench6D ( fx,
fy,
fz,
tx,
ty,
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 $

◆ Wrench6D() [2/2]

Wrench6D ( const Vector3D< T > &  force,
const Vector3D< T > &  torque 
)

Constructs a wrench from a force and torque.

Parameters
force[in] linear force
torque[in] angular torque

Member Function Documentation

◆ force()

const Vector3D<T> force ( ) const
inline

Extracts the force.

Returns
the force

◆ norm1()

T norm1 ( ) const
inline

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

Returns
the 1-norm

◆ norm2()

T norm2 ( ) const
inline

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

Returns
the 2-norm

◆ normInf()

T normInf ( ) const
inline

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

Returns
the infinite norm

◆ operator!=()

bool operator!= ( const Wrench6D< T > &  b) const
inline

Compares a and b for inequality.

Parameters
b[in] other wrench to compare with.
Returns
True if a and b are different, false otherwise.

◆ operator()() [1/2]

T& operator() ( std::size_t  index)
inline

Returns reference to wrench element.

Parameters
index[in] index in the wrench, index must be $ < 6 $.
Returns
reference to wrench element

◆ operator()() [2/2]

const T& operator() ( std::size_t  index) const
inline

Returns const reference to wrench element.

Parameters
index[in] index in the wrench, index must be $ < 6 $.
Returns
const reference to wrench element

◆ operator*()

const Wrench6D<T> operator* ( s) const
inline

Scales wrench and returns scaled version.

Parameters
s[in] scaling value
Returns
Scaled wrench

◆ operator*=()

Wrench6D<T>& operator*= ( s)
inline

Scales wrench with s.

Parameters
s[in] scaling value
Returns
reference to the Wrench6D to support additional assigments

◆ operator+()

const Wrench6D<T> operator+ ( const Wrench6D< T > &  rhs) const
inline

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} $

◆ operator+=()

Wrench6D<T>& operator+= ( const Wrench6D< T > &  wrench)
inline

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.

◆ operator-()

const Wrench6D<T> operator- ( const Wrench6D< T > &  rhs) const
inline

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} $

◆ operator-=()

Wrench6D<T>& operator-= ( const Wrench6D< T > &  wrench)
inline

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.

◆ operator==()

bool operator== ( const Wrench6D< T > &  b) const
inline

Compares a and b for equality.

Parameters
b[in] other wrench to compare with.
Returns
True if a equals b, false otherwise.

◆ operator[]() [1/2]

const T& operator[] ( size_t  i) const
inline

◆ operator[]() [2/2]

T& operator[] ( size_t  i)
inline

◆ setForce()

void setForce ( const Vector3D< T > &  force)
inline

Sets the force component.

Parameters
force[in] linear force

◆ setTorque()

void setTorque ( const Vector3D< T > &  torque)
inline

Sets the torque component.

Parameters
torque[in] angular torque

◆ torque()

const Vector3D<T> torque ( ) const
inline

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

Returns
the torque

Friends And Related Function Documentation

◆ operator* [1/3]

const Wrench6D<T> operator* ( const Transform3D< T > &  aTb,
const Wrench6D< T > &  bV 
)
friend

Changes frame of reference and referencepoint of wrench: $ \robabx{b}{b}{\mathbf{w}}\to \robabx{a}{a}{\mathbf{w}} $.

The frames $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are rigidly connected.

Parameters
aTb[in] the location of frame $ \mathcal{F}_b $ wrt. frame $ \mathcal{F}_a $: $ \robabx{a}{b}{\mathbf{T}} $
bV[in] wrench wrt. frame $ \mathcal{F}_b $: $ \robabx{b}{b}{\mathbf{\nu}} $
Returns
the wrench wrt. frame $ \mathcal{F}_a $: $ \robabx{a}{a}{\mathbf{\nu}} $

Transformation of both the wrench reference point and of the base to which the wrench is expressed

\[ \robabx{a}{a}{\mathbf{w}} = \left[ \begin{array}{c} \robabx{a}{a}{\mathbf{force}} \\ \robabx{a}{a}{\mathbf{torque}} \end{array} \right] = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}} & S(\robabx{a}{b}{\mathbf{p}}) \robabx{a}{b}{\mathbf{R}} \\ \mathbf{0}^{3x3} & \robabx{a}{b}{\mathbf{R}} \end{array} \right] \robabx{b}{b}{\mathbf{\nu}} = \left[ \begin{array}{c} \robabx{a}{b}{\mathbf{R}} \robabx{b}{b}{\mathbf{v}} + \robabx{a}{b}{\mathbf{p}} \times \robabx{a}{b}{\mathbf{R}} \robabx{b}{b}{\mathbf{\omega}}\\ \robabx{a}{b}{\mathbf{R}} \robabx{b}{b}{\mathbf{\omega}} \end{array} \right] \]

◆ operator* [2/3]

const Wrench6D<T> operator* ( const Vector3D< T > &  aPb,
const Wrench6D< T > &  bV 
)
friend

Changes wrench referencepoint of wrench: $ \robabx{b}{b}{\mathbf{w}}\to \robabx{a}{a}{\mathbf{w}} $.

The frames $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are rigidly connected.

Parameters
aPb[in] the location of frame $ \mathcal{F}_b $ wrt. frame $ \mathcal{F}_a $: $ \robabx{a}{b}{\mathbf{T}} $
bV[in] wrench wrt. frame $ \mathcal{F}_b $: $ \robabx{b}{b}{\mathbf{\nu}} $
Returns
the wrench wrt. frame $ \mathcal{F}_a $: $ \robabx{a}{a}{\mathbf{\nu}} $

Transformation of both the velocity reference point and of the base to which the wrench is expressed

\[ \robabx{a}{a}{\mathbf{w}} = \left[ \begin{array}{c} \robabx{a}{a}{\mathbf{force}} \\ \robabx{a}{a}{\mathbf{torque}} \end{array} \right] = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}} & S(\robabx{a}{b}{\mathbf{p}}) \robabx{a}{b}{\mathbf{R}} \\ \mathbf{0}^{3x3} & \robabx{a}{b}{\mathbf{R}} \end{array} \right] \robabx{b}{b}{\mathbf{\nu}} = \left[ \begin{array}{c} \robabx{a}{b}{\mathbf{R}} \robabx{b}{b}{\mathbf{v}} + \robabx{a}{b}{\mathbf{p}} \times \robabx{a}{b}{\mathbf{R}} \robabx{b}{b}{\mathbf{\omega}}\\ \robabx{a}{b}{\mathbf{R}} \robabx{b}{b}{\mathbf{\omega}} \end{array} \right] \]

◆ operator* [3/3]

const Wrench6D<T> operator* ( const Rotation3D< T > &  aRb,
const Wrench6D< T > &  bV 
)
friend

Changes frame of reference for wrench: $ \robabx{b}{i}{\mathbf{w}}\to \robabx{a}{i}{\mathbf{w}} $.

Parameters
aRb[in] the change in orientation between frame $ \mathcal{F}_a $ and frame $ \mathcal{F}_b $: $ \robabx{a}{b}{\mathbf{R}} $
bV[in] velocity screw wrt. frame $ \mathcal{F}_b $: $ \robabx{b}{i}{\mathbf{\nu}} $
Returns
the wrench wrt. frame $ \mathcal{F}_a $: $ \robabx{a}{i}{\mathbf{w}} $

Transformation of the base to which the wrench is expressed. The wrench reference point is left intact

\[ \robabx{a}{i}{\mathbf{w}} = \left[ \begin{array}{c} \robabx{a}{i}{\mathbf{force}} \\ \robabx{a}{i}{\mathbf{torque}} \end{array} \right] = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}} & \mathbf{0}^{3x3} \\ \mathbf{0}^{3x3} & \robabx{a}{b}{\mathbf{R}} \end{array} \right] \robabx{b}{i}{\mathbf{\nu}} = \left[ \begin{array}{c} \robabx{a}{b}{\mathbf{R}} \robabx{b}{i}{\mathbf{v}} \\ \robabx{a}{b}{\mathbf{R}} \robabx{b}{i}{\mathbf{\omega}} \end{array} \right] \]

◆ operator<<

std::ostream& operator<< ( std::ostream &  os,
const Wrench6D< T > &  wrench 
)
friend

Ouputs wrench to stream.

Parameters
os[in/out] stream to use
wrench[in] the wrench
Returns
the resulting stream

◆ read() [1/2]

void read ( rw::math::Wrench6D< double > &  sobject,
rw::common::InputArchive iarchive,
const std::string &  id 
)
related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters
sobject[out] the object in which the data should be streamed into
iarchive[in] the InputArchive from which to read data.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ read() [2/2]

void read ( rw::math::Wrench6D< float > &  sobject,
rw::common::InputArchive iarchive,
const std::string &  id 
)
related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters
sobject[out] the object in which the data should be streamed into
iarchive[in] the InputArchive from which to read data.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [1/2]

void write ( const rw::math::Wrench6D< double > &  sobject,
rw::common::OutputArchive oarchive,
const std::string &  id 
)
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
sobject[in] the object from which the data should be streamed.
oarchive[out] the OutputArchive in which data should be written.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [2/2]

void write ( const rw::math::Wrench6D< float > &  sobject,
rw::common::OutputArchive oarchive,
const std::string &  id 
)
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
sobject[in] the object from which the data should be streamed.
oarchive[out] the OutputArchive in which data should be written.
id[in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

The documentation for this class was generated from the following file: