Observe net contact wrench from force/torque measurements. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	NetWrenchObserver ()
	Empty constructor. More...

	NetWrenchObserver (const std::vector< std::string > &sensorNames)
	Constructor from list of sensor names. More...

void	update (const mc_rbdyn::Robot &robot, const Contact &contact)
	Update estimates based on the sensed net contact wrench. More...

const sva::ForceVecd &	wrench ()
	Net contact wrench. More...

const Eigen::Vector3d &	zmp ()
	Zero-tilting moment point in the latest contact frame. More...

Detailed Description

Observe net contact wrench from force/torque measurements.

Definition at line 41 of file NetWrenchObserver.h.

Constructor & Destructor Documentation

lipm_walking::NetWrenchObserver::NetWrenchObserver ( )

Empty constructor.

Definition at line 33 of file NetWrenchObserver.cpp.

lipm_walking::NetWrenchObserver::NetWrenchObserver ( const std::vector< std::string > & sensorNames )

Constructor from list of sensor names.

Parameters

sensorNames Identifiers of end-effector force-torque sensors.

Definition at line 35 of file NetWrenchObserver.cpp.

void lipm_walking::NetWrenchObserver::update	(	const mc_rbdyn::Robot &	robot,
		const Contact &	contact
	)

Update estimates based on the sensed net contact wrench.

Parameters

robot	Robot state.
contact	Support contact frame.

Definition at line 37 of file NetWrenchObserver.cpp.

const sva::ForceVecd& lipm_walking::NetWrenchObserver::wrench ( )

inline

Net contact wrench.

Definition at line 69 of file NetWrenchObserver.h.

const Eigen::Vector3d& lipm_walking::NetWrenchObserver::zmp ( )

inline

Zero-tilting moment point in the latest contact frame.

Definition at line 77 of file NetWrenchObserver.h.