GCC Code Coverage Report


Directory: ./
File: include/tsid/contacts/measured-force-base.hpp
Date: 2025-03-29 14:29:37
Exec Total Coverage
Lines: 1 1 100.0%
Branches: 0 0 -%

Line Branch Exec Source
1 //
2 // Copyright (c) 2022 CNRS INRIA LORIA
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 // tsid is distributed in the hope that it will be
10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 // General Lesser Public License for more details. You should have
13 // received a copy of the GNU Lesser General Public License along with
14 // tsid If not, see
15 // <http://www.gnu.org/licenses/>.
16 //
17
18 #ifndef __invdyn_measured_force_base_hpp__
19 #define __invdyn_measured_force_base_hpp__
20
21 #include <pinocchio/multibody/fwd.hpp>
22
23 #include "tsid/math/fwd.hpp"
24 #include "tsid/robots/fwd.hpp"
25
26 namespace tsid {
27 namespace contacts {
28 class MeasuredForceBase {
29 public:
30 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
31
32 typedef math::Vector Vector;
33 typedef pinocchio::Data Data;
34 typedef robots::RobotWrapper RobotWrapper;
35
36 MeasuredForceBase(const std::string &name, RobotWrapper &robot);
37
38 2 virtual ~MeasuredForceBase() = default;
39
40 const std::string &name() const;
41
42 void name(const std::string &name);
43
44 /**
45 * Compute the bias force (J^t F) associated to the
46 * external measured force.
47 */
48 virtual const Vector &computeJointTorques(Data &data) = 0;
49
50 protected:
51 std::string m_name;
52
53 /// \brief Reference on the robot model.
54 RobotWrapper &m_robot;
55 };
56 } // namespace contacts
57 } // namespace tsid
58
59 #endif // ifndef __invdyn_measured_force_base_hpp__
60