96 lines
2.9 KiB
C++
96 lines
2.9 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Specification of a contact
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* Author: Nate Koenig
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* Date: 10 Nov 2009
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*/
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#ifndef _JOINT_WRENCH_HH_
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#define _JOINT_WRENCH_HH_
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class JointWrench JointWrench.hh physics/physics.hh
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/// \brief Wrench information from a joint. These are
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/// forces and torques on parent and child Links, relative to
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/// the Joint frame immediately after rotation.
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class GZ_PHYSICS_VISIBLE JointWrench
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{
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/// \brief Operator =
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/// \param[in] _wrench Joint wrench to set from.
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/// \return *this
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public: JointWrench &operator =(const JointWrench &_wrench)
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{
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this->body1Force = _wrench.body1Force;
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this->body2Force = _wrench.body2Force;
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this->body1Torque = _wrench.body1Torque;
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this->body2Torque = _wrench.body2Torque;
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return *this;
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}
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/// \brief Operator +
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/// \param[in] _wrench Joint wrench to add
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/// \return *this
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public: inline JointWrench &operator +(const JointWrench &_wrench)
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{
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this->body1Force += _wrench.body1Force;
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this->body2Force += _wrench.body2Force;
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this->body1Torque += _wrench.body1Torque;
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this->body2Torque += _wrench.body2Torque;
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return *this;
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}
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/// \brief Operator -
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/// \param[in] _wrench Joint wrench to subtract
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/// \return *this
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public: inline JointWrench &operator -(const JointWrench &_wrench)
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{
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this->body1Force -= _wrench.body1Force;
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this->body2Force -= _wrench.body2Force;
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this->body1Torque -= _wrench.body1Torque;
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this->body2Torque -= _wrench.body2Torque;
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return *this;
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}
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/// \brief Force on the first link.
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public: math::Vector3 body1Force;
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/// \brief Force on the second link.
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public: math::Vector3 body2Force;
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/// \brief Torque on the first link.
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public: math::Vector3 body1Torque;
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/// \brief Torque on the second link.
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public: math::Vector3 body2Torque;
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};
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/// \}
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}
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}
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#endif
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