measured-force-base.hpp

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//
// Copyright (c) 2022 CNRS INRIA LORIA
//

#ifndef __invdyn_measured_force_base_hpp__
#define __invdyn_measured_force_base_hpp__

#include <pinocchio/multibody/fwd.hpp>

#include "tsid/math/fwd.hpp"
#include "tsid/robots/fwd.hpp"

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

 typedef math::Vector Vector;
 typedef pinocchio::Data Data;
 typedef robots::RobotWrapper RobotWrapper;

 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;

 protected:
 std::string m_name;

 RobotWrapper& m_robot;
};
} // namespace contacts
} // namespace tsid

#endif // ifndef __invdyn_measured_force_base_hpp__