maspack.spatialmotion

Class Wrench

java.lang.Object

maspack.matrix.VectorBase

maspack.spatialmotion.SpatialVector

maspack.spatialmotion.Wrench

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, Vector, Clonable

public class Wrench
extends SpatialVector

A spatial vector that represents a spatial force, comprised of a translation force f and a moment m. A wrench is a covariant spatial vector, with m being the free vector and f being the line vector.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
Vector3d	f Translational force
Vector3d	m Moment (rotational force)
static Wrench	ZERO

Constructor Summary

Constructors

Constructor and Description
Wrench() Creates a Wrench and initializes its contents to zero.
Wrench(double fx, double fy, double fz, double mx, double my, double mz) Creates a Wrench and initializes its components to the specified values.
Wrench(Vector3d f, Vector3d m) Creates a Wrench and initializes its components to the specified values.
Wrench(Wrench wr) Creates a Wrench and initializes its contents to the values of an existing Wrench.

Method Summary

Modifier and Type	Method and Description
void	absolute(Wrench wr1) Sets the elements of this wrench to their absolute values.
void	add(Wrench wr1) Adds this wrench to wr1 and places the result in this wrench.
void	add(Wrench wr1, Wrench wr2) Adds wrench wr1 to wr2 and places the result in this wrench.
Wrench	clone()
void	combine(double s1, Wrench wr1, double s2, Wrench wr2) Computes s1 wr1 + s2 wr2 and places the result in this wrench.
void	interpolate(double s, Wrench wr1) Computes the interpolation (1-s) this + s wr1 and places the result in this wrench.
void	interpolate(Wrench wr1, double s, Wrench wr2) Computes the interpolation (1-s) wr1 + s wr2 and places the result in this wrench.
void	inverseTransform(RigidTransform3d X, Wrench wr1) Applies an inverse rigid spatial transformation to the wrench wr1, and places the result in this wrench.
void	inverseTransform(RotationMatrix3d R, Wrench wr1) Applies an inverse rotational transformation to the wrench wr1, and stores the result in this wrench.
void	negate(Wrench wr1) Sets this wrench to the negative of wr1.
void	normalize(Wrench wr1) Computes a unit wrench in the direction of wr1 and places the result in this wrench.
void	scale(double s, Wrench wr1) Scales the elements of wrench wr1 by s and places the results in this wrench.
void	scaledAdd(double s, Wrench wr1) Computes s wr1 and add the result to this wrench.
void	scaledAdd(double s, Wrench wr1, Wrench wr2) Computes s wr1 + wr2 and places the result in this wrench.
void	set(double fx, double fy, double fz, double mx, double my, double mz) Sets the values of this wrench to the specified component values.
void	set(Vector3d f, Vector3d m) Sets the values of this wrench to the specified component values.
void	set(Wrench wr) Sets the values of this wrench to those of wrench tw.
void	sub(Wrench wr1) Subtracts wr1 from this wrench and places the result in this wrench.
void	sub(Wrench wr1, Wrench wr2) Subtracts wrench wr1 from wr2 and places the result in this wrench.
void	transform(RigidTransform3d X, Wrench wr1) Applies a rigid spatial transformation to the wrench wr1, and places the result in this wrench.
void	transform(RotationMatrix3d R, Wrench wr1) Applies a rotational transformation to the wrench wr1 and stores the result in this wrench.

Methods inherited from class maspack.spatialmotion.SpatialVector

absolute, cross, dot, epsilonEquals, equals, get, get, get, infinityNorm, inverseTransform, inverseTransform, isContravariant, maxElement, minElement, negate, norm, normalize, normSquared, oneNorm, scale, set, set, set, set, setRandom, setRandom, setRandom, setZero, size, toString, transform, transform

Methods inherited from class maspack.matrix.VectorBase

containsNaN, copy, copyAndAdd, copyAndNegate, copyAndScale, copyAndSub, copyAndSubLeft, dot, epsilonEquals, equals, get, getDefaultFormat, hasNaN, isColumnVectorStringsVertical, isFixedSize, isRowVector, scan, set, set, setColumnVectorStringsVertical, setDefaultFormat, setRowVector, setSize, toString, toString, write, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

ZERO

public static final Wrench ZERO

f

public Vector3d f

Translational force

m

public Vector3d m

Moment (rotational force)

Constructor Detail

Wrench

public Wrench()

Creates a Wrench and initializes its contents to zero.

Wrench

public Wrench(Wrench wr)

Creates a Wrench and initializes its contents to the values of an existing Wrench.

Parameters:

wr - wrench whose values are to be copied

Wrench

public Wrench(double fx,
              double fy,
              double fz,
              double mx,
              double my,
              double mz)

Creates a Wrench and initializes its components to the specified values.

Parameters:

fx - force x component

fy - force y component

fz - force z component

mx - moment x component

my - moment y component

mz - moment z component

Wrench

public Wrench(Vector3d f,
              Vector3d m)

Creates a Wrench and initializes its components to the specified values.

Parameters:

f - force

m - moment

Method Detail

set

public void set(double fx,
                double fy,
                double fz,
                double mx,
                double my,
                double mz)

Sets the values of this wrench to the specified component values.

Parameters:

fx - force x component

fy - force y component

fz - force z component

mx - moment x component

my - moment y component

mz - moment z component

set

public void set(Vector3d f,
                Vector3d m)

Sets the values of this wrench to the specified component values.

Parameters:

f - force

m - moment

set

public void set(Wrench wr)

Sets the values of this wrench to those of wrench tw.

Parameters:

wr - wrench whose values are to be copied

add

public void add(Wrench wr1,
                Wrench wr2)

Adds wrench wr1 to wr2 and places the result in this wrench.

Parameters:

wr1 - left-hand wrench

wr2 - right-hand wrench

add

public void add(Wrench wr1)

Adds this wrench to wr1 and places the result in this wrench.

Parameters:

wr1 - right-hand wrench

sub

public void sub(Wrench wr1,
                Wrench wr2)

Subtracts wrench wr1 from wr2 and places the result in this wrench.

Parameters:

wr1 - left-hand wrench

wr2 - right-hand wrench

sub

public void sub(Wrench wr1)

Subtracts wr1 from this wrench and places the result in this wrench.

Parameters:

wr1 - right-hand wrench

negate

public void negate(Wrench wr1)

Sets this wrench to the negative of wr1.

Parameters:

wr1 - wrench to negate

scale

public void scale(double s,
                  Wrench wr1)

Scales the elements of wrench wr1 by s and places the results in this wrench.

Parameters:

s - scaling factor

wr1 - wrench to be scaled

interpolate

public void interpolate(Wrench wr1,
                        double s,
                        Wrench wr2)

Computes the interpolation (1-s) wr1 + s wr2 and places the result in this wrench.

Parameters:

wr1 - left-hand wrench

s - interpolation factor

wr2 - right-hand wrench

interpolate

public void interpolate(double s,
                        Wrench wr1)

Computes the interpolation (1-s) this + s wr1 and places the result in this wrench.

Parameters:

s - interpolation factor

wr1 - right-hand wrench

scaledAdd

public void scaledAdd(double s,
                      Wrench wr1,
                      Wrench wr2)

Computes s wr1 + wr2 and places the result in this wrench.

Parameters:

s - scaling factor

wr1 - wrench to be scaled

wr2 - wrench to be added

scaledAdd

public void scaledAdd(double s,
                      Wrench wr1)

Computes s wr1 and add the result to this wrench.

Parameters:

s - scaling factor

wr1 - wrench to be scaled and added

combine

public void combine(double s1,
                    Wrench wr1,
                    double s2,
                    Wrench wr2)

Computes s1 wr1 + s2 wr2 and places the result in this wrench.

Parameters:

s1 - left-hand scaling factor

wr1 - left-hand wrench

s2 - right-hand scaling factor

wr2 - right-hand wrench

normalize

public void normalize(Wrench wr1)

Computes a unit wrench in the direction of wr1 and places the result in this wrench.

Parameters:

wr1 - wrench to normalize

absolute

public void absolute(Wrench wr1)

Sets the elements of this wrench to their absolute values.

transform

public void transform(RotationMatrix3d R,
                      Wrench wr1)

Applies a rotational transformation to the wrench wr1 and stores the result in this wrench.

Parameters:

R - rotational transformation matrix

wr1 - wrench to transform

inverseTransform

public void inverseTransform(RotationMatrix3d R,
                             Wrench wr1)

Applies an inverse rotational transformation to the wrench wr1, and stores the result in this wrench.

Parameters:

R - rotational transformation matrix

wr1 - wrench to transform

transform

public void transform(RigidTransform3d X,
                      Wrench wr1)

Applies a rigid spatial transformation to the wrench wr1, and places the result in this wrench.

Parameters:

X - rigid spatial transformation

wr1 - wrench to be transformed

inverseTransform

public void inverseTransform(RigidTransform3d X,
                             Wrench wr1)

Applies an inverse rigid spatial transformation to the wrench wr1, and places the result in this wrench.

Parameters:

X - rigid spatial transformation

wr1 - wrench to be transformed

clone

public Wrench clone()

Specified by:

clone in interface Clonable

Overrides:

clone in class SpatialVector