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

A set of ContactWrench for each link, representing all the contacts between the model and the external environment.

Constructors, destructors, conversion operators

LinkContactWrenches(std::size_t nrOfLinks = 0): Create a LinkWrenches vector, with the size given by nrOfLinks .
LinkContactWrenches(const Model& model)

void resize(std::size_t nrOfLinks)
void resize(const Model& model)
auto getNrOfContactsForLink(const LinkIndex linkIndex) const -> size_t: Get the number of external contacts for a given link.
void setNrOfContactsForLink(const LinkIndex linkIndex, const size_t nrOfContacts): Set the number of external contacts for a given link.
auto getNrOfLinks() const -> size_t: Get the number of links.
auto contactWrench(const LinkIndex linkIndex, const size_t contactIndex) -> ContactWrench&: Get a specific ContactWrench.
auto contactWrench(const LinkIndex linkIndex, const size_t contactIndex) const -> const ContactWrench&
auto computeNetWrenches(LinkNetExternalWrenches& netWrenches) const -> bool: Compute the net wrenches vector from the contacts wrenches vector.
void addNewContactForLink(const LinkIndex linkIndex, const ContactWrench& newContact): Add a new contact for a link.
auto addNewContactInFrame(const Model& model, const FrameIndex frameIndex, const ContactWrench& newContact) -> bool: Add a new contact for a frame.
auto toString(const Model& model) const -> std::string: Get a human readable description of the LinkWrenchContacts (for debug)

Create a LinkWrenches vector, with the size given by nrOfLinks .

Parameters
nrOfLinks in	the size of the vector.

Parameters
nrOfLinks in	the number of links to which resize this object

Get a specific ContactWrench.

Parameters
linkIndex in	the index of the link for which the contact is retrieved
contactIndex in	a index (between 0 and getNrOfContactsForLink(link)-1 ) identifing the specific contact.

Compute the net wrenches vector from the contacts wrenches vector.

Returns	true if all went well, false otherwise.

This is just a loop that sums all the contact wrenches for every link and store the results (expressed in the link frame) in the netWrenches vector.

Add a new contact for a link.

Parameters
linkIndex in	the index of the link for which the contact is added.
newContact in	the new contact wrench to add.

Add a new contact for a frame.

Parameters
model in	the model class for getting frame information.
frameIndex in	the index of the frame in which you are expressing the new wrench.
newContact in	the new wrench to add.
Returns	true if all went well, false otherwise

If the specified frame is not a link frame, the method automatically convert the wrench to the relative link frame.