iDynTree::LinkWrenches class
#include <iDynTree/LinkState.h>

Vector of wrenches connected in some way to the link of a model.

It is used to model both the total external wrench acting on a link (LinkExternalWrenches), or the internal wrenches that a link excerts on his parent (given a Traversal) computed as a by product by the dynamic loop of the RNEA ( RNEADynamicPhase ).

In both cases the Wrench corresponding to the link with LinkIndex i is always expressed with the orientation of the link frame and with respect to the link frame origin.

Constructors, destructors, conversion operators

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

Public functions

void resize(std::size_t nrOfLinks)
Resize the vector to have size nrOfLinks.
void resize(const iDynTree::Model& model)
auto isConsistent(const Model& model) const -> bool
auto getNrOfLinks() const -> size_t
auto operator()(const LinkIndex link) -> iDynTree::Wrench&
auto operator()(const LinkIndex link) const -> const iDynTree::Wrench&
auto toString(const Model& model) const -> std::string
void zero()
Set all the elements to zero.

Function documentation

iDynTree::LinkWrenches::LinkWrenches(std::size_t nrOfLinks = 0)

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

Parameters
nrOfLinks in the size of the vector.

void iDynTree::LinkWrenches::resize(std::size_t nrOfLinks)

Resize the vector to have size nrOfLinks.

Parameters
nrOfLinks in new size for the vector