#include <BipedalLocomotion/Math/Wrench.h>
template<class Scalar>
Wrench class
Wrench represent a wrench, i.e.
a 6d combination of linear force and angular torque.
Public types
- using Base = Eigen::Matrix<Scalar, 6, 1>
Public functions
- auto force() const -> Eigen::Block<const Base, 3, 1> constexpr
- Get the linear force of the wrench.
- auto torque() const -> Eigen::Block<const Base, 3, 1> constexpr
- Get the angular torque of the wrench.
- auto force() -> Eigen::Block<Base, 3, 1>
- Get the linear force part of the wrench.
- auto torque() -> Eigen::Block<Base, 3, 1>
- Get the angular torque part of the wrench.
- auto getLocalCoP() const -> Eigen::Matrix<Scalar, 3, 1>
- Get the local CoP associated with the wrench.
Function documentation
template<class Scalar>
Eigen::Block<const Base, 3, 1> BipedalLocomotion::
Get the linear force of the wrench.
| Returns | the sub-block containing the force |
|---|
template<class Scalar>
Eigen::Block<const Base, 3, 1> BipedalLocomotion::
Get the angular torque of the wrench.
| Returns | the sub-block containing the torque |
|---|
template<class Scalar>
Eigen::Block<Base, 3, 1> BipedalLocomotion::
Get the linear force part of the wrench.
| Returns | the sub-block containing the force |
|---|
template<class Scalar>
Eigen::Block<Base, 3, 1> BipedalLocomotion::
Get the angular torque part of the wrench.
| Returns | the sub-block containing the torque |
|---|
template<class Scalar>
Eigen::Matrix<Scalar, 3, 1> BipedalLocomotion::
Get the local CoP associated with the wrench.
| Returns | the CoP expressed in the local frame |
|---|
The center of pressure (CoP) is defined is a dynamic point defined in between two bodies in contact. The CoP is a local quantity defined from interaction forces at the contact surface.