measured-force-base.hpp

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//
// Copyright (c) 2022 CNRS INRIA LORIA
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#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);

  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__