mj_kdl::ForceTorqueReading Struct Reference

#include <mj_kdl_wrapper.hpp>

Inheritance diagram for mj_kdl::ForceTorqueReading:

Public Attributes
KDL::Wrench	wrench = KDL::Wrench::Zero()

Detailed Description

What a force-torque sensor measures. reset() assigns a fresh one, so every field here is reset.

The wrench is the load on the sensor, as a physical F/T sensor reports it: a tool hanging below reads its weight pointing down. MuJoCo's <force>/<torque> sensors give the opposite (the parent's force on the child), so the reading is their negation.

Definition at line 343 of file mj_kdl_wrapper.hpp.

Member Data Documentation

wrench

KDL::Wrench mj_kdl::ForceTorqueReading::wrench = KDL::Wrench::Zero()

Definition at line 345 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F(), and TEST_F().

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The documentation for this struct was generated from the following file:

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp