Add NO_UNKNOWNS type to UnknownContactWrench #343
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While having an "unknown" contact wrench in which no component of the wrench is unknown may seem odd, it is extremly useful in mixed situations in which a robot has information of some contact forces (for example estimated with contact sensors) whole some other contact forces are unknown.
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Based on #338 . |
…that they are considered when summming the net wrenches. That way external wrenches are also included throughout the proccess of joint torque estimation
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@fjandrad I think this branch was merged in this PR. |
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While having an "unknown" contact wrench in which no component
of the wrench is unknown may seem odd, it is extremly useful
in mixed situations in which a robot has information of some
contact forces (for example estimated with contact sensors)
whole some other contact forces are unknown.