BB.Message.Geometry.Wrench (bb v0.15.0)

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Force and torque in 3D space.

Fields

  • force - Force as BB.Vec3.t() in Newtons
  • torque - Torque as BB.Vec3.t() in Newton-metres

Examples

alias BB.Message.Geometry.Wrench
alias BB.Math.Vec3

{:ok, msg} = Wrench.new(:end_effector, Vec3.new(0.0, 0.0, -10.0), Vec3.zero())

Summary

Types

t()

Functions

new(frame_id, attrs)
new(frame_id, force, torque)

Create a new Wrench message.

Types

t()

@type t() :: %BB.Message.Geometry.Wrench{
  force: BB.Math.Vec3.t(),
  torque: BB.Math.Vec3.t()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}

new(frame_id, force, torque)

@spec new(atom(), BB.Math.Vec3.t(), BB.Math.Vec3.t()) ::
  {:ok, BB.Message.t()} | {:error, term()}

Create a new Wrench message.

Returns {:ok, %BB.Message{}} with the wrench as payload.

Examples

alias BB.Math.Vec3

{:ok, msg} = Wrench.new(:end_effector, Vec3.new(0.0, 0.0, -10.0), Vec3.zero())