print_joint_poses.cpp

An example showing how to use the model library that prints the transformation matrix of each joint with respect to the base frame.

// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <iostream>
#include <iterator>
 
#include <franka/exception.h>
#include <franka/model.h>
 
template <class T, size_t N>
std::ostream& operator<<(std::ostream& ostream, const std::array<T, N>& array) {
  ostream << "[";
  std::copy(array.cbegin(), array.cend() - 1, std::ostream_iterator<T>(ostream, ","));
  std::copy(array.cend() - 1, array.cend(), std::ostream_iterator<T>(ostream));
  ostream << "]";
  return ostream;
}
 
int main(int argc, char** argv) {
  if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
    return -1;
  }
 
  try {
    franka::Robot robot(argv[1]);
 
    franka::RobotState state = robot.readOnce();
 
    franka::Model model(robot.loadModel());
    for (franka::Frame frame = franka::Frame::kJoint1; frame <= franka::Frame::kEndEffector;
         frame++) {
      std::cout << model.pose(frame, state) << std::endl;
    }
  } catch (franka::Exception const& e) {
    std::cout << e.what() << std::endl;
    return -1;
  }
 
  return 0;
}