Class MobileModel

Class Documentation

class MobileModel

Calculates poses for mobile robot frames using Pinocchio.

This class provides forward kinematics for mobile robots. It is constructed from a mobile robot URDF and will reject arm robot URDFs.

Note

The pose() method is RT-safe (zero heap allocation). Passive joints (casters, rocker arm) are held at their neutral configuration internally.

Public Functions

explicit MobileModel(const std::string &urdf_model)

Constructs a MobileModel from a URDF string.

Parameters:: urdf_model – [in] The URDF model string describing a mobile robot.
Throws:: ModelException – if the URDF describes an arm robot rather than a mobile robot.

MobileModel(MobileModel &&other) noexcept

Move-constructs a new MobileModel instance.

MobileModel &operator=(MobileModel &&other) noexcept

Move-assigns this MobileModel from another MobileModel instance.

std::array<double, 16> pose(MobileFrame frame, const MobileJointPositions &joint_positions) const

Gets the 4x4 pose matrix for the given mobile frame relative to the robot’s base frame (URDF root link, body-fixed).

The pose is represented as a 4x4 matrix in column-major format. This method is RT-safe: it performs zero heap allocation.

Parameters:

frame – [in] The desired drive module frame (kFrontDriveModule or kRearDriveModule).
joint_positions – [in] Joint positions for all controllable subsystems. Angles are in radians; the conversion to the internal Pinocchio representation is handled automatically.

Returns:

Vectorized 4x4 pose matrix, column-major.

Public Static Attributes

static constexpr size_t kNumModules = kNumDriveModules : Number of swerve drive modules.

static constexpr size_t kJointsPerModule = kJointsPerDriveModule : Number of joints per drive module (steering + drive).