a_wrench.h

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/*
Copyright 2010-2016 Pierre SMARS (smars@yuntech.edu.tw)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 2 of the License, or
(at your option) any later version.
 
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _A_WRENCH_H_
#define _A_WRENCH_H_
 
#include <iostream>
#include "a_plucker.h"
#include "a_point.h"
#include "a_plane.h"
 
class a_wrench : public a_plucker
{
public:
        a_wrench() : a_plucker() {};
        a_wrench(const a_plucker& m) : a_plucker(m) {};
        ~a_wrench() {}
        //~a_wrench() {std::cerr << "destroyed a_wrench!" << std::endl; }
        std::string name() const {return "a_wrench";}
        static const std::string help();
        void set(const a_point& p, a_point f, double m = 0);
        void set(double x, double y, double z, double fx, double fy, double fz, double m = 0);
        a_wrench(const a_point& p, a_point f, double m = 0);
        a_wrench(double x, double y, double z, double fx, double fy, double fz, double m = 0);
        a_wrench(const a_point& p1, const a_point& p2, const a_point& p3, const a_wrench& f1, const a_wrench& f2); 
        inline a_point F() const {return p1_;}
        inline double fx() const {return p1_.x();}
        inline double fy() const {return p1_.y();}
        inline double fz() const {return p1_.z();}
        inline a_point M() const {return p2_;}
        inline double mx() const {return p2_.x();}
        inline double my() const {return p2_.y();}
        inline double mz() const {return p2_.z();}
        inline double f() const {return p1_.norm();}
        inline double m() const {return p2_.norm();}
        a_point pierce(const a_plane& p) const;
        inline void clear() {p1_.clear(); p2_.clear();}
        a_wrench operator+(const a_wrench& a) {return this->a_plucker::operator+(a);}
        a_wrench operator-(const a_wrench& a) {return this->a_plucker::operator-(a);}
        a_wrench& operator-() {this->a_plucker::operator-();return *this;}
        void origin(a_point p);
        a_point d0() const;
        a_point torque(const a_point& p) const;
        double torque(const a_point& p, const a_point& n) const;
 
//protected:
};
 
#endif