btk::Wrench Class Reference

Represents a wrench as position, force and moment varying during the time. More...

#include <btkWrench.h>

Inheritance diagram for btk::Wrench:

Public Types
typedef btkSharedPtr< const Wrench >	ConstPointer
typedef btkNullPtr< Wrench >	NullPointer
typedef btkSharedPtr< Wrench >	Pointer
Public Types inherited from btk::DataObject
typedef btkSharedPtr< const DataObject >	ConstPointer
typedef btkNullPtr< DataObject >	NullPointer
typedef btkSharedPtr< DataObject >	Pointer
Public Types inherited from btk::Object
typedef btkSharedPtr< const Object >	ConstPointer
typedef btkSharedPtr< Object >	Pointer

Public Member Functions
Pointer	Clone () const
Point::Pointer	GetComponent (int idx)
Point::Pointer	GetForce () const
Point::Pointer	GetMoment () const
Point::Pointer	GetPosition () const
void	SetForce (Point::Pointer force)
void	SetFrameNumber (int frameNumber)
void	SetMoment (Point::Pointer moment)
void	SetPosition (Point::Pointer pos)
Public Member Functions inherited from btk::DataObject
DataObject *	GetParent () const
bool	HasParent () const
void	Modified ()
void	SetParent (DataObject *parent)
void	Update ()
Public Member Functions inherited from btk::Object
unsigned long int	GetTimestamp () const

Static Public Member Functions
static Pointer	New (const std::string &label="")
	Creates a smart pointer associated with a Wrench object. More...
static Pointer	New (int frameNumber)
	Creates a smart pointer associated with a Wrench object.
static Pointer	New (const std::string &label, int frameNumber)
	Creates a smart pointer associated with a Wrench object.
static NullPointer	Null ()
Static Public Member Functions inherited from btk::DataObject
static NullPointer	Null ()

Protected Member Functions
	Wrench (const std::string &label)
	Wrench (const std::string &label, int frameNumber)
Protected Member Functions inherited from btk::DataObject
	DataObject ()
	DataObject (const DataObject &toCopy)
virtual	~DataObject ()
Protected Member Functions inherited from btk::Object
	Object ()
	Object (const Object &toCopy)
virtual	~Object ()

Additional Inherited Members
Protected Attributes inherited from btk::Object
unsigned long int	m_Timestamp

Detailed Description

Represents a wrench as position, force and moment varying during the time.

This class is mainly used to have a compact way to store forces and moment acting (or reacting) at a given position. The moment should be expressed at the position as it is defined in general mechanics.

By default, the label used for the forces and the moments corresponds to the given label to the constructor and followed by the suffix ".F" and ".M" respectively.

Member Typedef Documentation

btk::Wrench::ConstPointer

Smart pointer associated with a const Wrench object.

btk::Wrench::NullPointer

Special null pointer associated with a Wrench object. This type should be used only internally to test the nullity of a smart pointer. See the static method Null() instead.

btk::Wrench::Pointer

Smart pointer associated with a Wrench object.

Constructor & Destructor Documentation

btk::Wrench::Wrench ( const std::string &  label )

protected

Constructor.

The position's label corresponds to label. The force's label has the string ".F" added to label. The moments's label has the string ".M" added to label.

The Wrench created has no values.

Warning

The call of this function must be followed by the use of the method Wrench::SetFrameNumber as it creates a null matrix for the values.

btk::Wrench::Wrench ( const std::string &  label, int  frameNumber  )

protected

Constructor.

The position's label corresponds to label. The force's label has the string ".F" added to label. The moments's label has the string ".M" added to label.

Warning

The number of frames must be greater than 0.

Member Function Documentation

Pointer btk::Wrench::Clone ( ) const

inline

Returns a deep copy of the object as a smart pointer.

Point::Pointer btk::Wrench::GetComponent

(

int

idx

)

Returns the component with the given index idx. The possible value for the index are:

• 0: Returns the position.
• 1: Returns the force.
• 2: Returns the moment. Any other value will trigger an exception.

Point::Pointer btk::Wrench::GetForce ( ) const

inline

Returns the wrench's force.

Point::Pointer btk::Wrench::GetMoment ( ) const

inline

Returns the wrench's moment.

Point::Pointer btk::Wrench::GetPosition ( ) const

inline

Returns the wrench's position.

static Pointer btk::Wrench::New ( const std::string &  label = "" )

inlinestatic

Creates a smart pointer associated with a Wrench object.

The Wrench created has no values.

Warning

The call of this function must be followed by the use of the method Wrench::SetFrameNumber as it creates a null matrix for the values.

static NullPointer btk::Wrench::Null ( )

inlinestatic

Static function to return a null pointer.

Note

This static method should be used only to test if a shared ponter is null or not. It is advised to call the method without parenthesis as special (in)equality operator are implemented to use a function pointer. See the description of the class NullPtr for an example.

void btk::Wrench::SetForce

(

Point::Pointer

force

)

Sets the wrench's force.

void btk::Wrench::SetFrameNumber

(

int

frameNumber

)

Sets the number of frames. The input frameNumber must be greater than 0.

void btk::Wrench::SetMoment

(

Point::Pointer

moment

)

Sets the wrench's moment.

void btk::Wrench::SetPosition

(

Point::Pointer

pos

)

Sets the wrench's position.