UnknownWrenchContact struct
A contact whose wrench is unknown.
Class representing a contact for which the approximate center of the contact surface is known, but the wrench is unknown.
Constructors, destructors, conversion operators
- UnknownWrenchContact()
- Constructor.
-
UnknownWrenchContact(const UnknownWrenchContactType _unknownType,
const Position& _contactPoint,
const Direction& _forceDirection = iDynTree::Direction::Default(),
const Wrench& _knownWrench = iDynTree::
Wrench(), const unsigned long& _contactId = 0)
Public variables
- UnknownWrenchContactType unknownType
- Type of the unknown contact.
- Position contactPoint
- Position of the center of the contact, in the link frame.
- Direction forceDirection
- If unknownType is PURE_FORCE_WITH_KNOWN_DIRECTION, contains the known direction (in link frame) of the force.
- Wrench knownWrench
- If unknownType is NO_UNKNOWNS, contains the value of the contact force, with the orientation of the link frame, and w.r.t.
- unsigned long contactId
- Unique id identifing the contact.
Variable documentation
Wrench iDynTree::
If unknownType is NO_UNKNOWNS, contains the value of the contact force, with the orientation of the link frame, and w.r.t.
to the origin of the link frame, i.e. it ignores the contactPoint attribute.
unsigned long iDynTree::
Unique id identifing the contact.
This id is propagated to the contact wrench data structure. It is implemented mainly for compatibility with the skinDynLib library.