BipedalLocomotion::ContinuousDynamicalSystem::CompliantContactWrench class
#include <BipedalLocomotion/ContinuousDynamicalSystem/CompliantContactWrench.h>

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

Constructors, destructors, conversion operators

CompliantContactWrench(const iDynTree::FrameIndex& index, std::shared_ptr<ContactModels::ContactModel> model)
Constructor.

Public functions

auto index() -> iDynTree::FrameIndex& noexcept
Get the index of the frame.
auto index() const -> const iDynTree::FrameIndex& noexcept
Get the index of the frame.
auto contactModel() const -> const std::weak_ptr<ContactModels::ContactModel> noexcept
Get the contact wrench.

Function documentation

BipedalLocomotion::ContinuousDynamicalSystem::CompliantContactWrench::CompliantContactWrench(const iDynTree::FrameIndex& index, std::shared_ptr<ContactModels::ContactModel> model)

Constructor.

Parameters
index index of the frame
model

iDynTree::FrameIndex& BipedalLocomotion::ContinuousDynamicalSystem::CompliantContactWrench::index() noexcept

Get the index of the frame.

Returns a reference to the index of the frame

const iDynTree::FrameIndex& BipedalLocomotion::ContinuousDynamicalSystem::CompliantContactWrench::index() const noexcept

Get the index of the frame.

Returns a const reference to the index of the frame

const std::weak_ptr<ContactModels::ContactModel> BipedalLocomotion::ContinuousDynamicalSystem::CompliantContactWrench::contactModel() const noexcept

Get the contact wrench.

Returns a const reference to the parameter