ForceSensorCalibData.h

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#pragma once
 
#include <mc_rtc/Schema.h>
 
namespace mc_rbdyn::detail
{
 
struct ForceSensorCalibData
{
  MC_RTC_NEW_SCHEMA(ForceSensorCalibData)
#define MEMBER(...) MC_RTC_PP_ID(MC_RTC_SCHEMA_REQUIRED_DEFAULT_MEMBER(ForceSensorCalibData, __VA_ARGS__))
  MEMBER(double, mass, "Mass of the link generating the wrench")
  MEMBER(sva::ForceVecd, worldForce, "Constant gravity wrench applied on the force sensor in the world frame")
  MEMBER(sva::PTransformd, X_f_ds, "Local rotation between the model force sensor and the real one")
  MEMBER(sva::PTransformd, X_p_vb, "Transform from the parent body to the virtual link CoM")
  MEMBER(sva::ForceVecd, offset, "Force/torque offset")
#undef MEMBER
 
  void reset();
 
  void loadData(const std::string & filename, const Eigen::Vector3d & gravity);
 
  sva::ForceVecd wfToSensor(const sva::PTransformd & X_0_p, const sva::PTransformd & X_p_f) const noexcept;
};
 
} // namespace mc_rbdyn::detail