tsid::contacts::Measured6Dwrench Class Reference

#include <tsid/contacts/measured-6d-wrench.hpp>

Inheritance diagram for tsid::contacts::Measured6Dwrench:

Collaboration diagram for tsid::contacts::Measured6Dwrench:

Public Types
typedef math::Vector6	Vector6
typedef robots::RobotWrapper	RobotWrapper
typedef pinocchio::Data	Data
typedef pinocchio::Data::Matrix6x	Matrix6x
Public Types inherited from tsid::contacts::MeasuredForceBase
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	Measured6Dwrench (const std::string &name, RobotWrapper &robot, const std::string &frameName)
const Vector &	computeJointTorques (Data &data) override
void	setMeasuredContactForce (const Vector6 &fext)
const Vector6 &	getMeasuredContactForce () const
void	useLocalFrame (bool local_frame)
	Specifies if the external force and jacobian is expressed in the local frame or the local world-oriented frame.
Public Member Functions inherited from tsid::contacts::MeasuredForceBase
	MeasuredForceBase (const std::string &name, RobotWrapper &robot)
virtual	~MeasuredForceBase ()=default
const std::string &	name () const
void	name (const std::string &name)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index	Index
Public Attributes inherited from tsid::contacts::MeasuredForceBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector	Vector

Protected Attributes
std::string	m_frame_name
Index	m_frame_id
Vector6	m_fext
Matrix6x	m_J
Matrix6x	m_J_rotated
Vector	m_computedTorques
bool	m_local_frame
Protected Attributes inherited from tsid::contacts::MeasuredForceBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model.

Member Typedef Documentation

Data

typedef pinocchio::Data tsid::contacts::Measured6Dwrench::Data

Matrix6x

typedef pinocchio::Data::Matrix6x tsid::contacts::Measured6Dwrench::Matrix6x

RobotWrapper

typedef robots::RobotWrapper tsid::contacts::Measured6Dwrench::RobotWrapper

Vector6

typedef math::Vector6 tsid::contacts::Measured6Dwrench::Vector6

Constructor & Destructor Documentation

Measured6Dwrench()

tsid::contacts::Measured6Dwrench::Measured6Dwrench	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName )

Member Function Documentation

computeJointTorques()

const Vector & tsid::contacts::Measured6Dwrench::computeJointTorques ( Data & data )

overridevirtual

Compute the bias force (J^t F) associated to the external measured force.

Implements tsid::contacts::MeasuredForceBase.

getMeasuredContactForce()

const Vector6 & tsid::contacts::Measured6Dwrench::getMeasuredContactForce

(

)

const

setMeasuredContactForce()

void tsid::contacts::Measured6Dwrench::setMeasuredContactForce

(

const Vector6 &

fext

)

Set the value of the external wrench applied by the environment on the robot.

useLocalFrame()

void tsid::contacts::Measured6Dwrench::useLocalFrame

(

bool

local_frame

)

Specifies if the external force and jacobian is expressed in the local frame or the local world-oriented frame.

Parameters

local_frame

If true, represent external force and jacobian in the local frame. If false, represent them in the local world-oriented frame.

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::contacts::Measured6Dwrench::Index

m_computedTorques

Vector tsid::contacts::Measured6Dwrench::m_computedTorques

protected

m_fext

Vector6 tsid::contacts::Measured6Dwrench::m_fext

protected

m_frame_id

Index tsid::contacts::Measured6Dwrench::m_frame_id

protected

m_frame_name

std::string tsid::contacts::Measured6Dwrench::m_frame_name

protected

m_J

Matrix6x tsid::contacts::Measured6Dwrench::m_J

protected

m_J_rotated

Matrix6x tsid::contacts::Measured6Dwrench::m_J_rotated

protected

m_local_frame

bool tsid::contacts::Measured6Dwrench::m_local_frame

protected

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The documentation for this class was generated from the following files:

• include/tsid/contacts/measured-6d-wrench.hpp
• src/contacts/measured-6d-wrench.cpp