edu.wpi.rail.jrosbridge.messages.geometry

Class Wrench

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.geometry.Wrench

public class Wrench
extends Message

The geometry_msgs/Wrench message. This represents force in free space, separated into its linear and angular parts.

Version:

April 1, 2014

Author:

Russell Toris -- rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static String	FIELD_FORCE The name of the force field for the message.
static String	FIELD_TORQUE The name of the torque field for the message.
static String	TYPE The message type.

Fields inherited from class edu.wpi.rail.jrosbridge.messages.Message

EMPTY_MESSAGE

Fields inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

EMPTY_JSON

Constructor Summary

Constructors

Constructor and Description
Wrench() Create a new Wrench with all 0s.
Wrench(Vector3 force, Vector3 torque) Create a new Wrench with the given force and torque values.

Method Summary

Methods

Modifier and Type	Method and Description
Wrench	clone() Create a clone of this Wrench.
static Wrench	fromJsonObject(javax.json.JsonObject jsonObject) Create a new Wrench based on the given JSON object.
static Wrench	fromJsonString(String jsonString) Create a new Wrench based on the given JSON string.
static Wrench	fromMessage(Message m) Create a new Wrench based on the given Message.
Vector3	getForce() Get the force value of this wrench.
Vector3	getTorque() Get the torque value of this wrench.

Methods inherited from class edu.wpi.rail.jrosbridge.messages.Message

getMessageType, setMessageType

Methods inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

equals, hashCode, toJsonObject, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

FIELD_FORCE

public static final String FIELD_FORCE

The name of the force field for the message.

See Also:

Constant Field Values

FIELD_TORQUE

public static final String FIELD_TORQUE

The name of the torque field for the message.

See Also:

Constant Field Values

TYPE

public static final String TYPE

The message type.

See Also:

Constant Field Values

Constructor Detail

Wrench

public Wrench()

Create a new Wrench with all 0s.

Wrench

public Wrench(Vector3 force,
      Vector3 torque)

Create a new Wrench with the given force and torque values.

Parameters:

force - The force value of the wrench.

torque - The torque value of the wrench.

Method Detail

getForce

public Vector3 getForce()

Get the force value of this wrench.

Returns:

The force value of this wrench.

getTorque

public Vector3 getTorque()

Get the torque value of this wrench.

Returns:

The torque value of this wrench.

clone

public Wrench clone()

Create a clone of this Wrench.

Overrides:

clone in class Message

fromJsonString

public static Wrench fromJsonString(String jsonString)

Create a new Wrench based on the given JSON string. Any missing values will be set to their defaults.

Parameters:

jsonString - The JSON string to parse.

Returns:

A Wrench message based on the given JSON string.

fromMessage

public static Wrench fromMessage(Message m)

Create a new Wrench based on the given Message. Any missing values will be set to their defaults.

Parameters:

m - The Message to parse.

Returns:

A Wrench message based on the given Message.

fromJsonObject

public static Wrench fromJsonObject(javax.json.JsonObject jsonObject)

Create a new Wrench based on the given JSON object. Any missing values will be set to their defaults.

Parameters:

jsonObject - The JSON object to parse.

Returns:

A Wrench message based on the given JSON object.