5 #include <pinocchio/algorithm/centroidal.hpp>
6 #include <pinocchio/algorithm/crba.hpp>
7 #include <pinocchio/algorithm/rnea.hpp>
8 #include <pinocchio/multibody/model.hpp>
9 #include <pinocchio/parsers/urdf.hpp>
12 #include "franka/robot_model_base.h"
23 const std::array<double, 7>& dq,
24 const std::array<double, 9>& i_total,
26 const std::array<double, 3>& f_x_ctotal,
27 std::array<double, 7>& c_ne)
override;
28 void gravity(
const std::array<double, 7>& q,
29 const std::array<double, 3>& g_earth,
31 const std::array<double, 3>& f_x_ctotal,
32 std::array<double, 7>& g_ne)
override;
33 void mass(
const std::array<double, 7>& q,
34 const std::array<double, 9>& i_total,
36 const std::array<double, 3>& f_x_ctotal,
37 std::array<double, 49>& m_ne)
override;
44 void addInertiaToLastLink(
const std::array<double, 9>& i_total,
46 const std::array<double, 3>& f_x_ctotal);
52 const std::array<double, 9>& i_total,
54 const std::array<double, 3>& f_x_ctotal,
55 pinocchio::Data& data,
56 const std::function<
void(pinocchio::Model&, pinocchio::Data&)>& compute_func);
58 pinocchio::Model pinocchio_model_;
59 pinocchio::Inertia initial_last_link_inertia_;
60 pinocchio::FrameIndex last_link_frame_index_;
61 pinocchio::JointIndex last_joint_index_;
Robot dynamic parameters computed from the URDF model with Pinocchio.
Definition: robot_model_base.h:10
Implements RobotModelBase using Pinocchio.
Definition: robot_model.h:19
void gravity(const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne) override
Calculates the gravity vector.
void mass(const std::array< double, 7 > &q, const std::array< double, 9 > &i_total, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 49 > &m_ne) override
Calculates the 7x7 mass matrix.
void coriolis(const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &i_total, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &c_ne) override
Calculates the Coriolis force vector (state-space equation): , in .