Wrench

class compas_fab.robots.Wrench

Bases: Data

A wrench represents force in free space, separated into its linear (force) and angular (torque) parts.

Examples

>>> from compas.geometry import Vector
>>> w = Wrench([1, 2, 3], [0.1, 0.2, 0.3])
>>> w = Wrench(Vector(1, 2, 3), Vector(0.1, 0.2, 0.3))

Attributes:

forceVector

[Fx, Fy, Fz] force vector in Newtons

torqueVector

[Tx, Ty, Tz] moments vector in Newton-meters

Methods

by_samples	Construct the wrench by sampled data, allowing to filter.
copy	Make a copy of this Wrench.
from_list	Construct a wrench from a list of 6 float values.
gravity_compensated	Removes the force and torque in effect of gravity from the wrench.
transform	Transforms a Wrench with the transformation.
transformed	Returns a transformed copy of the Wrench.

Inherited Methods

ToString	Converts the instance to a string.
from_json	Construct an object of this type from a JSON file.
from_jsonstring	Construct an object of this type from a JSON string.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
to_json	Convert an object to its native data representation and save it to a JSON file.
to_jsonstring	Convert an object to its native data representation and save it to a JSON string.
validate_data	Validate the data against the object's data schema.