ow_core::Wrench< _Scalar > Class Template Reference

The Wrench class. More...

#include <wrench.h>

Inheritance diagram for ow_core::Wrench< _Scalar >:

Public Types
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 6, 1 >	Base

Public Member Functions
	Wrench ()
	Default Constructor.
template<typename OtherDerived >
	Wrench (const Eigen::EigenBase< OtherDerived > &other)
	Copy constructor. More...
	Wrench (const geometry_msgs::Wrench &other)
	Copy constructor form geometry_msgs::Wrench.
void	operator= (const geometry_msgs::Wrench &W)
	Assignment form geometry_msgs::Wrench.
	operator geometry_msgs::Wrench () const
	Conversion to geometry_msgs::Twist.
geometry_msgs::Wrench	toWrenchMsg () const
	Conversion to geometry_msgs::Twist.
ForceRef< Base >	force ()
	access to linear part
ForceRef< const Base >	force () const
	const access to linear part
MomentRef< Base >	moment ()
	access to angular part
MomentRef< const Base >	moment () const
	const access to angular part
std::string	toString () const
	Conversion to std::string.

Static Public Member Functions
static const Wrench &	Default ()
	Construct as Default. More...

Detailed Description

template<typename _Scalar>
class ow_core::Wrench< _Scalar >

The Wrench class.

The Wrench is of type Eigen::Vector6 and is represented by the math symbol .

Stores the force and moment in a 6 dimensional vector. The force is represented by the first three elements. The moment velocity by the last three elements.

Constructor & Destructor Documentation

template<typename _Scalar>

template<typename OtherDerived >

ow_core::Wrench< _Scalar >::Wrench ( const Eigen::EigenBase< OtherDerived > &  other )

inline

Copy constructor.

This copy constructor not only works with Eigen matrices but also with their expressions.

Member Function Documentation

template<typename _Scalar>

static const Wrench& ow_core::Wrench< _Scalar >::Default ( )

inlinestatic

Construct as Default.

Default is Zero.

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

• /home/dean/ros/workspaces/ow_test_ws/src/ow_core/include/ow_core/wrench.h