tsid::contacts::MeasuredForceBase Class Reference

#include <tsid/contacts/measured-force-base.hpp>

Inheritance diagram for tsid::contacts::MeasuredForceBase:

Collaboration diagram for tsid::contacts::MeasuredForceBase:

Public Types
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	MeasuredForceBase (const std::string &name, RobotWrapper &robot)
virtual	~MeasuredForceBase ()=default
const std::string &	name () const
void	name (const std::string &name)
virtual const Vector &	computeJointTorques (Data &data)=0

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector	Vector

Protected Attributes
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model.

Member Typedef Documentation

Data

typedef pinocchio::Data tsid::contacts::MeasuredForceBase::Data

RobotWrapper

typedef robots::RobotWrapper tsid::contacts::MeasuredForceBase::RobotWrapper

Constructor & Destructor Documentation

MeasuredForceBase()

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

~MeasuredForceBase()

virtual tsid::contacts::MeasuredForceBase::~MeasuredForceBase ( )

virtualdefault

Member Function Documentation

computeJointTorques()

virtual const Vector & tsid::contacts::MeasuredForceBase::computeJointTorques ( Data & data )

pure virtual

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

Implemented in tsid::contacts::Measured3Dforce, and tsid::contacts::Measured6Dwrench.

name() [1/2]

const std::string & tsid::contacts::MeasuredForceBase::name

(

)

const

name() [2/2]

void tsid::contacts::MeasuredForceBase::name

(

const std::string &

name

)

Member Data Documentation

m_name

std::string tsid::contacts::MeasuredForceBase::m_name

protected

m_robot

RobotWrapper& tsid::contacts::MeasuredForceBase::m_robot

protected

Reference on the robot model.

Vector

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector tsid::contacts::MeasuredForceBase::Vector

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

• include/tsid/contacts/measured-force-base.hpp
• src/contacts/measured-force-base.cpp