file
Wrench.hNamespaces
- namespace BipedalLocomotion
- namespace BipedalLocomotion::Math
Classes
-
template<class Scalar>class BipedalLocomotion::Math::Wrench
- Wrench represent a wrench, i.e.
Typedefs
- using Wrenchd = Wrench<double>
- A wrench of double.
Functions
-
template<class Scalar>auto operator*(const manif::SE3<Scalar>& transform, const Wrench<Scalar>& wrench) -> Wrench<Scalar>
- Change the frame in which the Wrench is expressed.
-
template<class Scalar>auto operator*(const manif::SO3<Scalar>& rotation, const Wrench<Scalar>& wrench) -> Wrench<Scalar>
- Change the frame in which the Wrench is expressed.
Function documentation
template<class Scalar>
Wrench<Scalar> operator*(const manif::SE3<Scalar>& transform,
const Wrench<Scalar>& wrench)
Change the frame in which the Wrench is expressed.
Parameters | |
---|---|
transform | a manif::SE3 object representing a homogeneous transformation that changes the coordinates of a vector expressed in the frame A into the coordinates in the frame B |
wrench | expressed in the frame A |
Returns | the vector expressed in the frame B |
If the tranform is is
And the wrench is:
The result of this operation is :
template<class Scalar>
Wrench<Scalar> operator*(const manif::SO3<Scalar>& rotation,
const Wrench<Scalar>& wrench)
Change the frame in which the Wrench is expressed.
Parameters | |
---|---|
rotation | a manif::SO3 object representing a rotation that changes the coordinates of a vector expressed in the frame A into the coordinates in the frame B |
wrench | expressed in the frame A |
Returns | the vector expressed in the frame B |
If the tranform is is
And the wrench is:
The result of this operation is :