CartesianStiffness.cpp
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 #include "CartesianStiffness.h" 00028 00029 using namespace nemo; 00030 00031 namespace rci { 00032 00033 TranslationalStiffness::TranslationalStiffness() : 00034 CartesianTranslational() { 00035 } 00036 00037 TranslationalStiffness::TranslationalStiffness(double valx, double valy, 00038 double valz) : 00039 CartesianTranslational(valx, valy, valz) { 00040 } 00041 00042 TranslationalStiffness::TranslationalStiffness(const TranslationalStiffness& transl) : 00043 CartesianTranslational() { 00044 this->_values = RealVector(dim(3)); 00045 this->_values[0] = transl.asDouble(0); 00046 this->_values[1] = transl.asDouble(1); 00047 this->_values[2] = transl.asDouble(2); 00048 } 00049 00050 TranslationalStiffness::TranslationalStiffness(nemo::RealVector values) : 00051 CartesianTranslational(values) { 00052 } 00053 00054 RotationalStiffness::RotationalStiffness() : 00055 CartesianRotational() { 00056 } 00057 00058 RotationalStiffness::RotationalStiffness(double vala, double valb, double valc, double vald) : 00059 CartesianRotational(vala, valb, valc, vald) { 00060 } 00061 00062 RotationalStiffness::RotationalStiffness(nemo::RealVector values) : 00063 CartesianRotational(values) { 00064 } 00065 00066 RotationalStiffness::RotationalStiffness(const RotationalStiffness& rot) : 00067 CartesianRotational() { 00068 this->_values = RealVector(rot.asDouble(0), rot.asDouble(1), 00069 rot.asDouble(2)); 00070 } 00071 00072 CartesianStiffness::CartesianStiffness() : 00073 CartesianValue() { 00074 } 00075 00076 CartesianStiffness::CartesianStiffness(double valx, double valy, double valz, 00077 double vala, double valb, double valc, double vald) : 00078 CartesianValue(valx, valy, valz, vala, valb, valc, vald) { 00079 } 00080 00081 CartesianStiffness::CartesianStiffness(const CartesianStiffness& intact) : 00082 CartesianValue(intact) { 00083 } 00084 00085 CartesianStiffness::CartesianStiffness(nemo::RealVector values) : 00086 CartesianValue(values) { 00087 } 00088 00089 }
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