Wrench.hpp

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#ifndef WBC_TYPES_WRENCH_HPP
#define WBC_TYPES_WRENCH_HPP
 
#include "Pose.hpp"
 
namespace wbc { namespace types {
 
class Wrench{
public:
    Eigen::Vector3d force;
    Eigen::Vector3d torque;
 
    void setZero(){
        force.setZero();
        torque.setZero();
    }
 
    Eigen::VectorXd vector6d() const{
        Eigen::VectorXd v(6);
        v.segment(0,3) = force;
        v.segment(3,3) = torque;
        return v;
    }
};

Wrench operator*(const Pose& transform, const Wrench& wrench_in);
 
}
}
 
#endif