iDynTree::Wrench class
#include <iDynTree/Wrench.h>

Class representing a wrench, i.e.

a 6D combination of linear force an angular torque.

Base classes

class SpatialForceVector: Class providing the raw coordinates for any spatial force vector, (i.e.

Constructors, destructors, conversion operators

Wrench()
Wrench(const Force& _linearVec3, const Torque& _angularVec3)
Wrench(const SpatialForceVector& other)
Wrench(const Wrench& other)

Public functions

auto operator=(const Wrench& other) -> Wrench&
auto operator+(const Wrench& other) const -> Wrench
auto operator-(const Wrench& other) const -> Wrench
auto operator-() const -> Wrench

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