Robot dynamic parameters computed from the URDF model with Pinocchio. More...

Inheritance diagram for RobotModelBase:

Public Member Functions
virtual 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)=0
	Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).

virtual 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)=0
	Calculates the gravity vector.

virtual 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)=0
	Calculates the 7x7 mass matrix.

Detailed Description

Robot dynamic parameters computed from the URDF model with Pinocchio.

Member Function Documentation

virtual void RobotModelBase::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
	)

pure virtual

Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).

Parameters

[in]	q	Joint position.
[in]	dq	Joint velocity.
[in]	i_total	Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[out]	c_ne	Coriolis force vector. Unit: \([Nm]\).

virtual void RobotModelBase::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
	)

pure virtual

Calculates the gravity vector.

Unit: \([Nm]\).

Parameters

[in]	q	Joint position.
[in]	gravity_earth	Earth's gravity vector. Unit: \(\frac{m}{s^2}\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_Ctotal	Translation from flange to center of mass of the attached total load.
[out]	g_ne	Gravity vector. Unit: \([Nm]\).

virtual void RobotModelBase::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
	)

pure virtual

Calculates the 7x7 mass matrix.

Unit: \([kg \times m^2]\).

Parameters

[in]	q	Joint position.
[in]	i_total	Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[out]	m_ne	Vectorized 7x7 mass matrix, column-major.

The documentation for this class was generated from the following file: