Class 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 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
      • 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.