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JointWrench.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
/* Desc: Specification of a contact
* Author: Nate Koenig
* Date: 10 Nov 2009
*/
#ifndef GAZEBO_PHYSICS_JOINTWRENCH_HH_
#define GAZEBO_PHYSICS_JOINTWRENCH_HH_
#include <ignition/math/Vector3.hh>
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE JointWrench
{
public: JointWrench &operator =(const JointWrench &_wrench)
{
this->body1Force = _wrench.body1Force;
this->body2Force = _wrench.body2Force;
this->body1Torque = _wrench.body1Torque;
this->body2Torque = _wrench.body2Torque;
return *this;
}
public: inline JointWrench &operator +(const JointWrench &_wrench)
{
this->body1Force += _wrench.body1Force;
this->body2Force += _wrench.body2Force;
this->body1Torque += _wrench.body1Torque;
this->body2Torque += _wrench.body2Torque;
return *this;
}
public: inline JointWrench &operator -(const JointWrench &_wrench)
{
this->body1Force -= _wrench.body1Force;
this->body2Force -= _wrench.body2Force;
this->body1Torque -= _wrench.body1Torque;
this->body2Torque -= _wrench.body2Torque;
return *this;
}
public: ignition::math::Vector3d body1Force;
public: ignition::math::Vector3d body2Force;
public: ignition::math::Vector3d body1Torque;
public: ignition::math::Vector3d body2Torque;
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::JointWrench::body2Force
ignition::math::Vector3d body2Force
Force on the second link.
Definition: JointWrench.hh:85
system.hh
gazebo::physics::JointWrench::operator-
JointWrench & operator-(const JointWrench &_wrench)
Operator -.
Definition: JointWrench.hh:71
gazebo::physics::JointWrench::body2Torque
ignition::math::Vector3d body2Torque
Torque on the second link.
Definition: JointWrench.hh:91
gazebo::physics::JointWrench::body1Force
ignition::math::Vector3d body1Force
Force on the first link.
Definition: JointWrench.hh:82
gazebo::physics::JointWrench::operator+
JointWrench & operator+(const JointWrench &_wrench)
Operator +.
Definition: JointWrench.hh:58
gazebo::physics::JointWrench::operator=
JointWrench & operator=(const JointWrench &_wrench)
Operator =.
Definition: JointWrench.hh:45
gazebo::physics::JointWrench::body1Torque
ignition::math::Vector3d body1Torque
Torque on the first link.
Definition: JointWrench.hh:88
gazebo::physics::JointWrench
Wrench information from a joint. These are forces and torques on parent and child Links,...
Definition: JointWrench.hh:40