Variables
	contact = tsid.Measured6dWrench("Measured6dwrench", robot, frameName)

	data = robot.data()

	filename = str(Path(__file__).resolve().parent)

string	frameName = "RAnkleRoll"

	invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)

	measured_wrench = contact.measuredContactForce

	model = robot.model()

string	path = filename + "/../../models/romeo"

	robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

int	tol = 1e-5

string	urdf = path + "/urdf/romeo.urdf"

	vector = se3.StdVec_StdString()

	wrench = np.asarray([1.5, 1.5, 1.5, 2.5, 2.5, 2.5])

Variable Documentation

◆ contact

test_Measured6DWrench.contact = tsid.Measured6dWrench("Measured6dwrench", robot, frameName)

Definition at line 23 of file test_Measured6DWrench.py.

◆ data

test_Measured6DWrench.data = robot.data()

Definition at line 21 of file test_Measured6DWrench.py.

◆ filename

test_Measured6DWrench.filename = str(Path(__file__).resolve().parent)

Definition at line 14 of file test_Measured6DWrench.py.

◆ frameName

string test_Measured6DWrench.frameName = "RAnkleRoll"

Definition at line 22 of file test_Measured6DWrench.py.

◆ invdyn

test_Measured6DWrench.invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)

Definition at line 29 of file test_Measured6DWrench.py.

◆ measured_wrench

test_Measured6DWrench.measured_wrench = contact.measuredContactForce

Definition at line 26 of file test_Measured6DWrench.py.

◆ model

test_Measured6DWrench.model = robot.model()

Definition at line 20 of file test_Measured6DWrench.py.

◆ path

string test_Measured6DWrench.path = filename + "/../../models/romeo"

Definition at line 15 of file test_Measured6DWrench.py.

◆ robot

test_Measured6DWrench.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

Definition at line 19 of file test_Measured6DWrench.py.

◆ tol

int test_Measured6DWrench.tol = 1e-5

Definition at line 12 of file test_Measured6DWrench.py.

◆ urdf

string test_Measured6DWrench.urdf = path + "/urdf/romeo.urdf"

Definition at line 16 of file test_Measured6DWrench.py.

◆ vector

test_Measured6DWrench.vector = se3.StdVec_StdString()

Definition at line 17 of file test_Measured6DWrench.py.

◆ wrench

test_Measured6DWrench.wrench = np.asarray([1.5, 1.5, 1.5, 2.5, 2.5, 2.5])

Definition at line 24 of file test_Measured6DWrench.py.

Variables