Class Wrenches

• Defined in File Force.h

Inheritance Relationships

Base Type

• public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Task)

Class Documentation

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

Public Types

typedef std::shared_ptr<Wrenches> Ptr

Public Functions

Wrenches(const std::string &id, const std::vector<std::string> &distal_links, const std::vector<std::string> &base_links, const std::vector<AffineHelper> &wrenches)

Wrench::Ptr getWrenchTask(const std::string &distal_link)