121 lines
2.9 KiB
C++
121 lines
2.9 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_STIFFNESS_H
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#define KDL_STIFFNESS_H
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#include "frames.hpp"
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namespace KDL {
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/**
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* Preliminary class to implement Stiffness, only diagonal stiffness is implemented
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* no transformations provided...
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*
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* Implements a diagonal stiffness matrix.
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* first 3 elements are stiffness for translations
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* last 3 elements are stiffness for rotations.
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*/
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class Stiffness {
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double data[6];
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public:
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Stiffness() {
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data[0]=0;
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data[1]=0;
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data[2]=0;
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data[3]=0;
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data[4]=0;
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data[5]=0;
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}
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Stiffness(double* d) {
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data[0]=d[0];
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data[1]=d[1];
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data[2]=d[2];
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data[3]=d[3];
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data[4]=d[4];
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data[5]=d[5];
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}
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Stiffness(double x,double y,double z,double rx,double ry,double rz) {
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data[0]=x;
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data[1]=y;
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data[2]=z;
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data[3]=rx;
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data[4]=ry;
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data[5]=rz;
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}
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double& operator[](int i) {
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return data[i];
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}
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double operator[](int i) const {
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return data[i];
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}
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Twist Inverse(const Wrench& w) const{
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Twist t;
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t[0]=w[0]/data[0];
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t[1]=w[1]/data[1];
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t[2]=w[2]/data[2];
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t[3]=w[3]/data[3];
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t[4]=w[4]/data[4];
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t[5]=w[5]/data[5];
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return t;
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}
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};
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inline Wrench operator * (const Stiffness& s, const Twist& t) {
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Wrench w;
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w[0]=s[0]*t[0];
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w[1]=s[1]*t[1];
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w[2]=s[2]*t[2];
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w[3]=s[3]*t[3];
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w[4]=s[4]*t[4];
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w[5]=s[5]*t[5];
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return w;
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}
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inline Stiffness operator+(const Stiffness& s1, const Stiffness& s2) {
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Stiffness s;
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s[0]=s1[0]+s2[0];
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s[1]=s1[1]+s2[1];
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s[2]=s1[2]+s2[2];
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s[3]=s1[3]+s2[3];
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s[4]=s1[4]+s2[4];
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s[5]=s1[5]+s2[5];
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return s;
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}
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inline void posrandom(Stiffness& F) {
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posrandom(F[0]);
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posrandom(F[1]);
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posrandom(F[2]);
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posrandom(F[3]);
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posrandom(F[4]);
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posrandom(F[5]);
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}
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inline void random(Stiffness& F) {
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posrandom(F);
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}
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}
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#endif
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