[Rock-dev] Force/Torque data

[Dennis Mronga]

On 22.11.2013 10:42, Sylvain Joyeux wrote:
> On 11/22/2013 08:59 AM, Jakob Schwendner wrote:
>> To use internally, or as an interface type?
As an interface type. Internally I would use the KDL type anyways. 
That's why I am asking if it is useful to define an additional Rock type...

>> As far as I can see, there is only the effort field in the joints.
>> Defining a wrench in base, equivalent to the kdl type seems to be feasible.
> There is a RigidBodyAcceleration type ... However we should probably
> rename the type to e.g. Wrench ?
A wrench type would look different than RigidBodyAcceleration. I would 
suggest something like

base::Time time;
std::string refFrame;
base::Vector3d force;
base::Vector3d torque;

>


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  Dipl.-Ing. Dennis Mronga
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