mj_kdl::ForceTorqueSensor Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
std::string	name
std::string	force_sensor
std::string	torque_sensor
std::string	frame_site
int	force_adr = -1
int	torque_adr = -1
int	frame_site_id = -1
KDL::Wrench	wrench = KDL::Wrench::Zero()

Detailed Description

Runtime force-torque sensor state. The wrench is updated by update().

Definition at line 263 of file mj_kdl_wrapper.hpp.

Member Data Documentation

force_adr

int mj_kdl::ForceTorqueSensor::force_adr = -1

Definition at line 270 of file mj_kdl_wrapper.hpp.

force_sensor

std::string mj_kdl::ForceTorqueSensor::force_sensor

Definition at line 266 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

frame_site

std::string mj_kdl::ForceTorqueSensor::frame_site

Definition at line 268 of file mj_kdl_wrapper.hpp.

frame_site_id

int mj_kdl::ForceTorqueSensor::frame_site_id = -1

Definition at line 272 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::measured_force(), admittance_ft::tare_force(), and TEST_F().

name

std::string mj_kdl::ForceTorqueSensor::name

Definition at line 265 of file mj_kdl_wrapper.hpp.

torque_adr

int mj_kdl::ForceTorqueSensor::torque_adr = -1

Definition at line 271 of file mj_kdl_wrapper.hpp.

torque_sensor

std::string mj_kdl::ForceTorqueSensor::torque_sensor

Definition at line 267 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

wrench

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

Definition at line 274 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::measured_force(), admittance_ft::tare_force(), 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