franka::RobotModel Class Reference

Implements RobotModelBase using Pinocchio. More...

#include <robot_model.h>

Inheritance diagram for franka::RobotModel:

Collaboration diagram for franka::RobotModel:

Public Member Functions
	RobotModel (const std::string &urdf)
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): $c= C \times dq$, in $[Nm]$.
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.

Detailed Description

Implements RobotModelBase using Pinocchio.

Member Function Documentation

coriolis()

void franka::RobotModel::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  )

overridevirtual

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: $[Nm]$.

Implements RobotModelBase.

gravity()

void franka::RobotModel::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  )

overridevirtual

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: $[Nm]$.

Implements RobotModelBase.

mass()

void franka::RobotModel::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  )

overridevirtual

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.

Implements RobotModelBase.

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

• include/franka/robot_model.h