22#ifndef KDL_STIFFNESS_H
23#define KDL_STIFFNESS_H
55 Stiffness(
double x,
double y,
double z,
double rx,
double ry,
double rz) {
Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations p...
Definition stiffness.hpp:36
Stiffness(double x, double y, double z, double rx, double ry, double rz)
Definition stiffness.hpp:55
double data[6]
Definition stiffness.hpp:37
Twist Inverse(const Wrench &w) const
Definition stiffness.hpp:69
double & operator[](int i)
Definition stiffness.hpp:63
Stiffness(double *d)
Definition stiffness.hpp:47
double operator[](int i) const
Definition stiffness.hpp:66
Stiffness()
Definition stiffness.hpp:39
represents both translational and rotational velocities.
Definition frames.hpp:720
represents both translational and rotational acceleration.
Definition frames.hpp:879
Definition articulatedbodyinertia.cpp:26
ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition articulatedbodyinertia.cpp:53
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition articulatedbodyinertia.cpp:49
IMETHOD void random(Vector &a)
addDelta operator for displacement rotational velocity.
Definition frames.hpp:1215
IMETHOD void posrandom(Vector &a)
Definition frames.hpp:1244