#include <SolidTypes.h>

A wrench aka a SpatialVector representing a force and a torque This is pratically a SpatialVector (screw) with the additionnal semantics that this screw represents a wrench (force and torque) and not a twist (velocity) More...

Inheritance diagram for sofa::defaulttype::SolidTypes< R >::Wrench:

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Detailed Description

template<class R = float>
class sofa::defaulttype::SolidTypes< R >::Wrench

A wrench aka a SpatialVector representing a force and a torque This is pratically a SpatialVector (screw) with the additionnal semantics that this screw represents a wrench (force and torque) and not a twist (velocity)

Author: Anthony Truchet, CEA, 2006

Public Member Functions
	Wrench (const Vec3 &force, const Vec3 &torque)

Public Member Functions inherited from sofa::defaulttype::SolidTypes< R >::SpatialVector
void	clear ()

	SpatialVector ()

	SpatialVector (const Vec &l, const Vec &f)

SpatialVector &	operator+= (const SpatialVector &v)

SpatialVector	operator* (Real a) const

SpatialVector &	operator*= (Real a)

SpatialVector	operator+ (const SpatialVector &v) const

SpatialVector	operator- (const SpatialVector &v) const

SpatialVector	operator- () const

Real	operator* (const SpatialVector &v) const
	Spatial dot product (cross terms) More...

SpatialVector	cross (const SpatialVector &v) const
	Spatial cross product. More...

SpatialVector	operator* (const Mat66 &) const
	product with a dense matrix More...

Vec &	getLinearVelocity ()

const Vec &	getLinearVelocity () const

void	setLinearVelocity (const Vec &v)

Vec &	getAngularVelocity ()

const Vec &	getAngularVelocity () const

void	setAngularVelocity (const Vec &v)

Vec &	getTorque ()

const Vec &	getTorque () const

void	setTorque (const Vec &v)

Vec &	getForce ()

const Vec &	getForce () const

void	setForce (const Vec &v)

Additional Inherited Members
Public Attributes inherited from sofa::defaulttype::SolidTypes< R >::SpatialVector
Vec	lineVec

Vec	freeVec

Constructor details

template<class R = float>

sofa::defaulttype::SolidTypes< R >::Wrench::Wrench	(	const Vec3 &	force,
		const Vec3 &	torque
	)

inline

Detailed Description

template<class R = float> class sofa::defaulttype::SolidTypes< R >::Wrench

Public Member Functions

Additional Inherited Members

Constructor details

template<class R = float>
class sofa::defaulttype::SolidTypes< R >::Wrench