BipedalLocomotion::Estimators::RobotDynamicsEstimator::FT struct
#include <BipedalLocomotion/RobotDynamicsEstimator/SubModel.h>

FT describes the force/torque sensors of the submodels.

Base classes

struct Sensor
Sensor describes the generic sensors of the submodels.

Public types

enum class Direction: int { Positive = 1, Negative = -1, NotSpecified = 0 }
Direction can assume values: 1 if the system is applying the force on the sub-model.

Public variables

Direction forceDirection
Force direction depending on which side of the sensor is considered (+1 or -1)
std::string associatedJoint
Name of the fixed joint used to represent the ft sensor in the model.

Enum documentation

enum class BipedalLocomotion::Estimators::RobotDynamicsEstimator::FT::Direction: int

Direction can assume values: 1 if the system is applying the force on the sub-model.

-1 if the sub-model is applying the force on the system. 0 if the direction is not specified.