51 using Ptr = std::shared_ptr<Wrench>;
53 Wrench(
const std::string& name);
59 void setCurrentValue(
const Eigen::Matrix<double,6,1>& current_wrench_from_ft_sensor);
74 void onCompute(
double current_time,
double dt);
82 Eigen::MatrixXd jacobian_transpose_;
83 Eigen::MatrixXd jacobian_;
84 Eigen::Matrix<double,6,1> current_wrench_;
void onResize()
Definition: Wrench.cc:82
void setCurrentValue(const Eigen::Matrix< double, 6, 1 > ¤t_wrench_from_ft_sensor)
Definition: Wrench.cc:15
void onCompute(double current_time, double dt)
Definition: Wrench.cc:68
std::shared_ptr< ConfigurableOrcaObject > Ptr
Definition: ConfigurableOrcaObject.h:17
void print() const
Definition: Wrench.cc:94
void onDeactivated()
Definition: Wrench.cc:63
void setBaseFrame(const std::string &base_ref_frame)
Definition: Wrench.cc:25
void onActivation()
Definition: Wrench.cc:55
const std::string & getControlFrame() const
Definition: Wrench.cc:40
void setControlFrame(const std::string &control_frame)
Definition: Wrench.cc:30
Definition: CartesianAccelerationPID.h:44
const Eigen::MatrixXd & getJacobianTranspose() const
Definition: Wrench.cc:45
Wrench(const std::string &name)
Definition: Wrench.cc:8
const Eigen::MatrixXd & getJacobian() const
Definition: Wrench.cc:50
The common base class for tasks and constraints.
Definition: TaskBase.h:59
const std::string & getBaseFrame() const
Definition: Wrench.cc:35
const Eigen::Matrix< double, 6, 1 > & getCurrentValue() const
Definition: Wrench.cc:20