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JointWrench Class Reference
Physics

Wrench information from a joint. These are forces and torques on parent and child Links, relative to the Joint frame immediately after rotation. More...

`#include <physics/physics.hh>`

## Public Member Functions

JointWrench & | operator+ (const JointWrench &_wrench)
| Operator +. More...
JointWrench & | operator- (const JointWrench &_wrench)
| Operator -. More...
JointWrench & | operator= (const JointWrench &_wrench)
| Operator =. More...

## Public Attributes

ignition::math::Vector3d | body1Force
| Force on the first link. More...
ignition::math::Vector3d | body1Torque
| Torque on the first link. More...
ignition::math::Vector3d | body2Force
| Force on the second link. More...
ignition::math::Vector3d | body2Torque
| Torque on the second link. More...

## Detailed Description

Wrench information from a joint. These are forces and torques on parent and child Links, relative to the Joint frame immediately after rotation.

## Member Function Documentation

## operator+()

JointWrench& operator+ | ( | const JointWrench & | _wrench | ) |

inline

Operator +.

Parameters

  [in] | _wrench | Joint wrench to add

Returns
  *this

References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

## operator-()

JointWrench& operator- | ( | const JointWrench & | _wrench | ) |

inline

Operator -.

Parameters

  [in] | _wrench | Joint wrench to subtract

Returns
  *this

References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

## operator=()

JointWrench& operator= | ( | const JointWrench & | _wrench | ) |

inline

Operator =.

Parameters

  [in] | _wrench | Joint wrench to set from.

Returns
  *this

References JointWrench::body1Force, JointWrench::body1Torque, JointWrench::body2Force, and JointWrench::body2Torque.

## Member Data Documentation

## body1Force

ignition::math::Vector3d body1Force

Force on the first link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

## body1Torque

ignition::math::Vector3d body1Torque

Torque on the first link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

## body2Force

ignition::math::Vector3d body2Force

Force on the second link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

## body2Torque

ignition::math::Vector3d body2Torque

Torque on the second link.

Referenced by JointWrench::operator+(), JointWrench::operator-(), and JointWrench::operator=().

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

- JointWrench.hh