CartesianForces.h
Go to the documentation of this file.00001 /* ============================================================ 00002 * 00003 * This file is a part of RCI project 00004 * 00005 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de> 00006 * 00007 * This file may be licensed under the terms of the 00008 * GNU Lesser General Public License Version 3 (the ``LGPL''), 00009 * or (at your option) any later version. 00010 * 00011 * Software distributed under the License is distributed 00012 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either 00013 * express or implied. See the LGPL for the specific language 00014 * governing rights and limitations. 00015 * 00016 * You should have received a copy of the LGPL along with this 00017 * program. If not, go to http://www.gnu.org/licenses/lgpl.html 00018 * or write to the Free Software Foundation, Inc., 00019 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00020 * 00021 * The development of this software was supported by: 00022 * CoR-Lab, Research Institute for Cognition and Robotics 00023 * Bielefeld University 00024 * 00025 * ============================================================ */ 00026 00027 #pragma once 00028 00029 #include <iostream> 00030 #include <boost/shared_ptr.hpp> 00031 00032 #include "rci/dto/CartesianValues.h" 00033 00034 namespace rci { 00035 00036 class Forces; 00037 typedef boost::shared_ptr<Forces> ForcesPtr; 00038 00044 class Forces: public CartesianTranslational { 00045 00046 public: 00047 Forces(); 00048 Forces(double x, double y, double z); 00049 Forces(nemo::RealVector values); 00050 Forces(const Forces& forces); 00051 }; 00052 00059 class Torques: public CartesianRotational { 00060 00061 public: 00062 Torques(); 00063 Torques(double vala, double valb, double valc, double vald); 00064 Torques(nemo::RealVector values); 00065 Torques(const Torques& torques); 00066 }; 00067 00074 class Wrench: public CartesianValue { 00075 00076 public: 00077 Wrench(); 00078 Wrench(double valx, double valy, double valz, double vala, 00079 double valb, double valc, double vald); 00080 Wrench(nemo::RealVector values); 00081 Wrench(const Wrench& wrench); 00082 }; 00083 00084 }
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