btkGetForcePlatformWrenches Class Reference

Description

Extract force platform wrenches expressed in the global frame from a given acquisition.

Syntax:

fpw = btkGetForcePlatformWrenches(h, inglobalframe)

Parameters

h	Handle pointing to a C++ btk::Acquisition object.
inglobalframe	Optional parameter to express wrenches in global or local frame. Set inglobalframe to 0 to express in local frame.

Return values

fpw

Paged structure with the following fields: fpw(i).P: Matrix (n,3) containing the positons of the wrench where n corresponds to the number of frames. fpw(i).F: Matrix (n,3) containing the forces of the wrench where n corresponds to the number of frames. fpw(i).M: Matrix (n,3) containing the moments of the wrench where n corresponds to the number of frames.

See Also

btkGetGroundReactionWrenches