Class Wrench

Inheritance Relationships

Base Type

Class Documentation

class Wrench : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

The Wrench class implements a task which minimize the error between a desired force and optimized force.

Public Types

typedef std::shared_ptr<Wrench> Ptr

Public Functions

Wrench(const std::string &id, const std::string &distal_link, const std::string &base_link, const AffineHelper &wrench)

Wrench.

Parameters

  • id –

  • distal_link – where the force is applied

  • base_link – wrt the force is expressed (not used)

  • wrench – NOTE: base_link is not used but is only needed to retrieve information for other computations such as Inverse Dynamics (J’F)

bool setReference(const Eigen::VectorXd &ref)
void getReference(Eigen::VectorXd &ref)
const std::string &getDistalLink() const
const std::string &getBaseLink() const

Protected Functions

virtual void _update()

Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.