gcop::Wrench< T, n, c > Class Template Reference

#include <wrench.h>

List of all members.

Public Types
typedef Matrix< double, 6, 1 >	Vector6d
typedef Matrix< double, c, 1 >	Vectorcd
typedef Matrix< double, c, c >	Matrixcd
typedef Matrix< double, 6, c >	Matrix6xcd
typedef Matrix< double, 6, n >	Matrix6xnd
Public Member Functions
	Wrench (bool dx=true, bool du=true)
virtual void	F (Vector6d &f, double t, const T &x, const Vectorcd &u, Matrix6xnd *fx=0, Matrix6xcd *fu=0)=0
Public Attributes
bool	dx
	set to true if f depends on x
bool	du
	set to true if f depends on u

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Detailed Description

template<class T, int n, int c>
class gcop::Wrench< T, n, c >

An abstract wrench force function depending on the state on control inputs, i.e.

This can be regarded as 6-dimensional wrench applied to the body resulting from either control inputs, external forces, or both.

Author: Marin Kobilarov marin(at)jhu.edu

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Member Typedef Documentation

template<class T , int n, int c>

typedef Matrix<double, 6, c> gcop::Wrench< T, n, c >::Matrix6xcd

template<class T , int n, int c>

typedef Matrix<double, 6, n> gcop::Wrench< T, n, c >::Matrix6xnd

template<class T , int n, int c>

typedef Matrix<double, c, c> gcop::Wrench< T, n, c >::Matrixcd

template<class T , int n, int c>

typedef Matrix<double, 6, 1> gcop::Wrench< T, n, c >::Vector6d

template<class T , int n, int c>

typedef Matrix<double, c, 1> gcop::Wrench< T, n, c >::Vectorcd

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Constructor & Destructor Documentation

template<class T , int n, int c>

gcop::Wrench< T, n, c >::Wrench	(	bool	dx = true,
		bool	du = true
	)

Wrench force in 3d

Parameters:

dx	whether it depends on the state x
du	whether it depends on the controls u

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Member Function Documentation

template<class T , int n, int c>

virtual void gcop::Wrench< T, n, c >::F	(	Vector6d &	f,
		double	t,
		const T &	x,
		const Vectorcd &	u,
		Matrix6xnd *	fx = 0,
		Matrix6xcd *	fu = 0
	)		[pure virtual]

The force function

Parameters:

f	the resulting force
t	time
x	state
u	controls
fx	derivative w.r.t. state (optional)
fu	derivative w.r.t. controls (optional)

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Member Data Documentation

template<class T , int n, int c>

bool gcop::Wrench< T, n, c >::du

set to true if f depends on u

template<class T , int n, int c>

bool gcop::Wrench< T, n, c >::dx

set to true if f depends on x

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

• lib/systems/wrench.h