CartesianForces.h

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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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