fr.cnes.sirius.patrius.wrenches

Class Wrench

java.lang.Object

fr.cnes.sirius.patrius.wrenches.Wrench

public class Wrench
extends Object

This class represents a wrench.

Since:

1.3

Version:

$Id: Wrench.java 18067 2017-10-02 16:44:20Z bignon $

Author:

Rami Houdroge

Concurrency :

immutable

Field Summary

Fields

Modifier and Type	Field and Description
static Wrench	ZERO Zero wrench.

Constructor Summary

Constructors

Constructor and Description
Wrench(double[] data) Constructor from an array.
Wrench(Vector3D origin, Vector3D force, Vector3D torque) Create a wrench with given force and torque.

Method Summary

Methods

Modifier and Type	Method and Description
Wrench	add(Wrench wrench) Sum of two wrenches.
Wrench	displace(Vector3D newOrigin) Displace current wrench.
static Wrench	displace(Wrench wrench, Vector3D newOrigin) Displace current wrench.
Vector3D	getForce()
Vector3D	getOrigin()
Vector3D	getTorque()
Vector3D	getTorque(Vector3D origin) Get the torque expressed in another point.
double[]	getWrench() Get a double[] representation of this wrench.
static Wrench	sum(Wrench wrench1, Wrench wrench2) Sum of two wrenches.
String	toString() Get a String representation for this Wrench.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

ZERO

public static final Wrench ZERO

Zero wrench.

Constructor Detail

Wrench

public Wrench(Vector3D origin,
      Vector3D force,
      Vector3D torque)

Create a wrench with given force and torque.

Parameters:

origin - origin

force - force

torque - torque

Wrench

public Wrench(double[] data)
       throws PatriusException

Constructor from an array.

 data =
 {ox, oy, oz,
 fx, fy, fz,
 tx, ty, tz}
 

where o is the origin, f the force and t the torque.

Parameters:

data - array with origin, force and torque

Throws:

PatriusException - if input data array has an incorrect length

Method Detail

getOrigin

public Vector3D getOrigin()

Returns:

the origin of the torque

getForce

public Vector3D getForce()

Returns:

the force

getTorque

public Vector3D getTorque()

Returns:

the torque

getTorque

public Vector3D getTorque(Vector3D origin)

Get the torque expressed in another point.

Parameters:

origin - new origin for torque expression

Returns:

the torque expressed in another point

add

public Wrench add(Wrench wrench)

Sum of two wrenches.

Parameters:

wrench - wrench to add

Returns:

sum of wrenches

sum

public static Wrench sum(Wrench wrench1,
         Wrench wrench2)

Sum of two wrenches.

Parameters:

wrench1 - first wrench

wrench2 - second wrench

Returns:

sum of wrenches

displace

public Wrench displace(Vector3D newOrigin)

Displace current wrench.

Parameters:

newOrigin - new origin

Returns:

displaced wrench

displace

public static Wrench displace(Wrench wrench,
              Vector3D newOrigin)

Displace current wrench.

Parameters:

wrench - the wrench to displace

newOrigin - new origin

Returns:

displaced wrench

getWrench

public double[] getWrench()

Get a double[] representation of this wrench.

 data = wrench.getWrench();
 data =
 {ox, oy, oz,
 fx, fy, fz,
 tx, ty, tz}
 

where o is the origin, f the force and t the torque.

Returns:

wrench as a double[].

toString

public String toString()

Get a String representation for this Wrench.

Overrides:

toString in class Object

Returns:

a representation for this wrench