JointWrench.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Specification of a contact
18  * Author: Nate Koenig
19  * Date: 10 Nov 2009
20  */
21 
22 #ifndef _JOINT_WRENCH_HH_
23 #define _JOINT_WRENCH_HH_
24 
25 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
39  class GZ_PHYSICS_VISIBLE JointWrench
40  {
44  public: JointWrench &operator =(const JointWrench &_wrench)
45  {
46  this->body1Force = _wrench.body1Force;
47  this->body2Force = _wrench.body2Force;
48 
49  this->body1Torque = _wrench.body1Torque;
50  this->body2Torque = _wrench.body2Torque;
51  return *this;
52  }
53 
57  public: inline JointWrench &operator +(const JointWrench &_wrench)
58  {
59  this->body1Force += _wrench.body1Force;
60  this->body2Force += _wrench.body2Force;
61 
62  this->body1Torque += _wrench.body1Torque;
63  this->body2Torque += _wrench.body2Torque;
64  return *this;
65  }
66 
70  public: inline JointWrench &operator -(const JointWrench &_wrench)
71  {
72  this->body1Force -= _wrench.body1Force;
73  this->body2Force -= _wrench.body2Force;
74 
75  this->body1Torque -= _wrench.body1Torque;
76  this->body2Torque -= _wrench.body2Torque;
77  return *this;
78  }
79 
82 
85 
88 
91  };
93  }
94 }
95 #endif
math::Vector3 body1Torque
Torque on the first link.
Definition: JointWrench.hh:87
Forward declarations for the common classes.
Definition: Animation.hh:33
math::Vector3 body1Force
Force on the first link.
Definition: JointWrench.hh:81
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
math::Vector3 body2Torque
Torque on the second link.
Definition: JointWrench.hh:90
Wrench information from a joint.
Definition: JointWrench.hh:39
math::Vector3 body2Force
Force on the second link.
Definition: JointWrench.hh:84