iDynTree::ContactWrench class
#include <iDynTree/ContactWrench.h>

A wrench excerted on a link due to an external contact.

The contact wrench is represented by two quantities the contactPoint and the contactWrench .

Public functions

auto contactPoint() -> Position&
Position of a point on the contact surface.
auto contactWrench() -> Wrench&
Wrench that an external element excert on a link through the contact.
auto contactId() -> std::size_t&
auto contactPoint() const -> const Position&
auto contactWrench() const -> const Wrench&
auto contactId() const -> const std::size_t&

Function documentation

Position& iDynTree::ContactWrench::contactPoint()

Position of a point on the contact surface.

This is the position of a point (expressed in the link frame) that lies on the contact surface.

Its precise definition is application dependent.

If the ContactWrench class is used to represent a pure force applied on a point, the contactPoint is the point in which the pure force is applied.

If the ContactWrench class is used to represent contact information coming from a tacticle system, the contact point may be the average between all the taxels (tactile elements) belonging to the contact.

Wrench& iDynTree::ContactWrench::contactWrench()

Wrench that an external element excert on a link through the contact.

This wrench (expressed with respect to the contactPoint and with the orientation of the link frame) is the wrench excerted on the link by an external element.