RobotStudio/smtb/SpatialF6.m
%SpatialF6 Abstract spatial force class
%
% Abstract superclass that represents spatial force.  This class has two
% concrete subclasses:
%
%          SpatialVec6 (abstract handle class)
%            |
%            +--- SpatialM6 (abstract)
%            |     |
%            |     +---SpatialVelocity
%            |     +---SpatialAcceleration
%            |
%            +---SpatialF6 (abstract)
%                 |
%                 +---SpatialForce
%                 +---SpatialMomentum
%
% Methods::
%  SpatialF6     ^constructor invoked by subclasses
%  char          ^convert to string
%  display       ^display in human readable form
%  double        ^convert to a 6xN double
%
% Operators::
%  +          ^add spatial vectors of the same type
%  -          ^subtract spatial vectors of the same type
%  -          ^unary minus of spatial vectors
%
% Notes:
% - ^ is inherited from SpatialVec6.
% - Subclass of the MATLAB handle class which means that pass by reference semantics
%   apply.
% - Spatial vectors can be placed into arrays and indexed.
%
% References::
%
%  - Robot Dynamics Algorithms, R. Featherstone, volume 22,
%    Springer International Series in Engineering and Computer Science,
%    Springer, 1987.
%  - A beginner's guide to 6-d vectors (part 1), R. Featherstone, 
%    IEEE Robotics Automation Magazine, 17(3):83-94, Sep. 2010.
%
% See also SpatialForce, SpatialMomentum, SpatialInertia, SpatialM6.

% Copyright (C) 1993-2019 Peter I. Corke
%
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
% 
% Permission is hereby granted, free of charge, to any person obtaining a copy
% of this software and associated documentation files (the "Software"), to deal
% in the Software without restriction, including without limitation the rights
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
% of the Software, and to permit persons to whom the Software is furnished to do
% so, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in all
% copies or substantial portions of the Software.
%
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
%
% https://github.com/petercorke/spatial-math

classdef (Abstract) SpatialF6 < SpatialVec6
end

