#include <measured-force-base.hpp>

Inheritance diagram for tsid::contacts::MeasuredForceBase:

Public Types
typedef pinocchio::Data	Data

typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
virtual const Vector &	computeJointTorques (Data &data)=0

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

const std::string &	name () const

void	name (const std::string &name)

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. More...

Detailed Description

Definition at line 28 of file measured-force-base.hpp.

Member Typedef Documentation

◆ Data

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

Definition at line 33 of file measured-force-base.hpp.

◆ RobotWrapper

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

Definition at line 34 of file measured-force-base.hpp.

Constructor & Destructor Documentation

◆ MeasuredForceBase()

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

Definition at line 22 of file measured-force-base.cpp.

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

Definition at line 26 of file measured-force-base.cpp.

◆ name() [2/2]

void tsid::contacts::MeasuredForceBase::name ( const std::string & name )

Definition at line 28 of file measured-force-base.cpp.

Member Data Documentation

◆ m_name

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

protected

Definition at line 49 of file measured-force-base.hpp.

◆ m_robot

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

protected

Reference on the robot model.

Definition at line 52 of file measured-force-base.hpp.

◆ Vector

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

Definition at line 32 of file measured-force-base.hpp.

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

Public Types

Public Member Functions

Public Attributes

Protected Attributes