CartesianStiffness.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 00031 #include "rci/dto/CartesianValues.h" 00032 00033 namespace rci { 00034 00041 class TranslationalStiffness: public CartesianTranslational { 00042 00043 public: 00044 TranslationalStiffness(); 00045 TranslationalStiffness(double x, double y, double z); 00046 TranslationalStiffness(nemo::RealVector values); 00047 TranslationalStiffness(const TranslationalStiffness& stiffness); 00048 }; 00049 00057 class RotationalStiffness: public CartesianRotational { 00058 00059 public: 00060 RotationalStiffness(); 00061 RotationalStiffness(double a, double b, double c, double d); 00062 RotationalStiffness(nemo::RealVector values); 00063 RotationalStiffness(const RotationalStiffness& RotationalStiffness); 00064 }; 00065 00072 class CartesianStiffness: public CartesianValue { 00073 00074 public: 00075 CartesianStiffness(); 00076 CartesianStiffness(double x, double y, double z, double a, double b, 00077 double c, double d); 00078 CartesianStiffness(nemo::RealVector values); 00079 CartesianStiffness(const CartesianStiffness& intact); 00080 }; 00081 00082 }
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