measured-6d-wrench.hpp

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//
// Copyright (c) 2025 CNRS INRIA LORIA
//

#ifndef __invdyn_measured_6d_wrench_hpp__
#define __invdyn_measured_6d_wrench_hpp__

#include <pinocchio/multibody/data.hpp>

#include "tsid/contacts/measured-force-base.hpp"

namespace tsid {
namespace contacts {
class Measured6Dwrench : public MeasuredForceBase {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Index Index;
 typedef math::Vector6 Vector6;
 typedef robots::RobotWrapper RobotWrapper;
 typedef pinocchio::Data Data;
 typedef pinocchio::Data::Matrix6x Matrix6x;

 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);

 protected:
 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;
};
} // namespace contacts
} // namespace tsid

#endif // ifndef __invdyn_measured_6d_wrench_hpp__