Package org.robwork.sdurw_math

Class Wrench6D

java.lang.Object

org.robwork.sdurw_math.Wrench6D

public class Wrench6D
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
Wrench6D()	Default Constructor.
Wrench6D(double fx, double fy, double fz, double tx, double ty, double tz)	Constructs a 6 degrees of freedom velocity screw
Wrench6D(long cPtr, boolean cMemoryOwn)
Wrench6D(Vector3D force, Vector3D torque)	Constructs a wrench from a force and torque

Method Summary

Modifier and Type	Method	Description
Wrench6D	add(Wrench6D rhs)	Adds two wrenches together \mathbf{w}_{12}=\mathbf{w}_1+\mathbf{w}_2
Wrench6D	addAssign(Wrench6D wrench)	Adds the wrench given as a parameter to the wrench. Assumes the wrenches are represented in the same coordinate system.
void	delete()
EigenVector6d	e()	Converter to Eigen data type
boolean	equals(Wrench6D b)	Compares a and b for equality.
Vector3D	force()	Extracts the force
double	get(long i)
static long	getCPtr(Wrench6D obj)
Wrench6D	multiply(double s)	Scales wrench and returns scaled version
Wrench6D	multiplyAssign(double s)	Scales wrench with s
double	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.
boolean	notEqual(Wrench6D b)	Compares a and b for inequality.
void	set(long i, double d)
void	setForce(Vector3D force)	Sets the force component
void	setTorque(Vector3D torque)	Sets the torque component
Wrench6D	subtract(Wrench6D rhs)	Subtracts two velocity screws \mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
Wrench6D	subtractAssign(Wrench6D wrench)	Subtracts the wrench given as a parameter from the wrench. Assumes the wrenches are represented in the same coordinate system.
Vector3D	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

Wrench6D

public Wrench6D(long cPtr,
                boolean cMemoryOwn)

Wrench6D

public Wrench6D(double fx,
                double fy,
                double fz,
                double tx,
                double ty,
                double 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

public Wrench6D()

Default Constructor. Initialized the wrench to 0

Wrench6D

public Wrench6D(Vector3D force,
                Vector3D 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(Wrench6D obj)

delete

public void delete()

setForce

public void setForce(Vector3D force)

Sets the force component

Parameters:

force - [in] linear force

setTorque

public void setTorque(Vector3D torque)

Sets the torque component

Parameters:

torque - [in] angular torque

force

public Vector3D force()

Extracts the force

Returns:

the force

torque

public Vector3D torque()

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

Returns:

the torque

get

public double get(long i)

set

public void set(long i,
                double d)

addAssign

public Wrench6D addAssign(Wrench6D 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 Wrench6D subtractAssign(Wrench6D 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 Wrench6D multiplyAssign(double s)

Scales wrench with s

Parameters:

s - [in] scaling value

Returns:

reference to the Wrench6D to support additional
assigments

multiply

public Wrench6D multiply(double s)

Scales wrench and returns scaled version

Parameters:

s - [in] scaling value

Returns:

Scaled wrench

add

public Wrench6D add(Wrench6D 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 Wrench6D subtract(Wrench6D 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 double 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 double 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 double 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 EigenVector6d e()

Converter to Eigen data type

equals

public boolean equals(Wrench6D 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(Wrench6D 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.