KinematicsWorld::ExternalWrench Struct Reference

A force and torque applied from outside to a robot node (e.g. More...

#include <ArmarXSimulation/components/Simulator/KinematicsWorld.h>

Public Attributes
Eigen::Vector3f	force = Eigen::Vector3f::Zero()
double	forceAppliedAtSimSec = -1
Eigen::Vector3f	torque = Eigen::Vector3f::Zero()
double	torqueAppliedAtSimSec = -1

Detailed Description

A force and torque applied from outside to a robot node (e.g.

a person pulling at the hand). There is no dynamics here, so it only shows up in the force-torque sensors above that node.

Member Data Documentation

force

Eigen::Vector3f force = Eigen::Vector3f::Zero()

forceAppliedAtSimSec

double forceAppliedAtSimSec = -1

torque

Eigen::Vector3f torque = Eigen::Vector3f::Zero()

torqueAppliedAtSimSec

double torqueAppliedAtSimSec = -1

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

• ArmarXSimulation/components/Simulator/KinematicsWorld.h