mc_rbdyn::detail::ForceSensorCalibData Struct Reference

#include <mc_rbdyn/ForceSensorCalibData.h>

Public Member Functions
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

Member Function Documentation

loadData()

void mc_rbdyn::detail::ForceSensorCalibData::loadData	(	const std::string &	filename,
		const Eigen::Vector3d &	gravity
	)

Load data from a file, using a gravity vector. The file should contain 13 parameters in that order: mass (1), rpy for X_f_ds (3), position for X_p_vb (3), wrench offset (6).

If the file does not exist, default calibration parameters that do nothing will be used. If the file exists but its parameters are invalid, an exception will be thrown.

Exceptions

std::invalid_argument

if the file is ill-formed.

reset()

void mc_rbdyn::detail::ForceSensorCalibData::reset

(

)

Restore the calibrator default values such that it always returns zero contribution

wfToSensor()

sva::ForceVecd mc_rbdyn::detail::ForceSensorCalibData::wfToSensor ( const sva::PTransformd &  X_0_p, const sva::PTransformd &  X_p_f  ) const

noexcept

Return the gravity wrench applied on the force sensor in the sensor frame, i.e. the external force $f_{ext}$ is: $f_{ext} = f_{mes} - wfToSensor$.

Parameters

X_0_p	the transform in the world frame of the parent body of the sensor
X_p_f	the transform from the parent body to the sensor itself

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

• include/mc_rbdyn/ForceSensorCalibData.h