Module for reading the forces coming from the force plates and the robot and converting them to human frames.
The module is structured as follow:
where:
-
ForceReader is the interface in charge of reading forces coming into the module.
- FTForceReader: generic class for reading forces coming from devices. This is exactly the case of the force plates.
- PortForceReader: generic class for reading forces from a port (case of the robot).
-
FrameTransformer is the interface that transforms the frames of the incoming forces into human frames.
- GenericFrameTransformer: (when required) transforms forces coming from the previous interface into a new reference frame. It is in charge of applying a constant transformation to a given force.
- RobotFrameTransformation: (when required) for the specific case in which the transformation is not constant and needs to be updated at each timestamp.