KDL 1.5.1
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Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided... More...
#include <src/stiffness.hpp>
Public Member Functions | |
Stiffness () | |
Stiffness (double *d) | |
Stiffness (double x, double y, double z, double rx, double ry, double rz) | |
double & | operator[] (int i) |
double | operator[] (int i) const |
Twist | Inverse (const Wrench &w) const |
Private Attributes | |
double | data [6] |
Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided...
Implements a diagonal stiffness matrix. first 3 elements are stiffness for translations last 3 elements are stiffness for rotations.
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Referenced by Inverse(), operator[](), operator[](), Stiffness(), Stiffness(), and Stiffness().