franka_model Namespace Reference

Functions
vpMatrix	coriolisMatrix (const vpColVector &q, const vpColVector &dq, const double mL, const vpHomogeneousMatrix &flMcom, const vpMatrix &I_L)
vpColVector	friction (const vpColVector &dq)
vpColVector	gravityVector (const vpColVector &q, const double mL=0, const vpHomogeneousMatrix &flMcom=vpHomogeneousMatrix(), const vpColVector &g0=vpColVector({0.0, 0.0,-9.80665}))
vpMatrix	massMatrix (const vpColVector &q, const double mL=0, const vpHomogeneousMatrix &flMcom=vpHomogeneousMatrix(), const vpMatrix &I_L=vpMatrix(3, 3))

Variables
const double	FI_11 = 0.54615
const double	FI_12 = 0.87224
const double	FI_13 = 0.64068
const double	FI_14 = 1.2794
const double	FI_15 = 0.83904
const double	FI_16 = 0.30301
const double	FI_17 = 0.56489
const double	FI_21 = 5.1181
const double	FI_22 = 9.0657
const double	FI_23 = 10.136
const double	FI_24 = 5.5903
const double	FI_25 = 8.3469
const double	FI_26 = 17.133
const double	FI_27 = 10.336
const double	FI_31 = 0.039533
const double	FI_32 = 0.025882
const double	FI_33 = -0.04607
const double	FI_34 = 0.036194
const double	FI_35 = 0.026226
const double	FI_36 = -0.021047
const double	FI_37 = 0.0035526
const unsigned int	njoints = 7
const double	TAU_F_CONST_1 = FI_11/(1+exp(-FI_21*FI_31))
const double	TAU_F_CONST_2 = FI_12/(1+exp(-FI_22*FI_32))
const double	TAU_F_CONST_3 = FI_13/(1+exp(-FI_23*FI_33))
const double	TAU_F_CONST_4 = FI_14/(1+exp(-FI_24*FI_34))
const double	TAU_F_CONST_5 = FI_15/(1+exp(-FI_25*FI_35))
const double	TAU_F_CONST_6 = FI_16/(1+exp(-FI_26*FI_36))
const double	TAU_F_CONST_7 = FI_17/(1+exp(-FI_27*FI_37))

Function Documentation

coriolisMatrix()

vpMatrix franka_model::coriolisMatrix	(	const vpColVector &	q,
		const vpColVector &	dq,
		const double	mL,
		const vpHomogeneousMatrix &	flMcom,
		const vpMatrix &	I_L
	)

Definition at line 25 of file CoriolisMatrix.cpp.

friction()

vpColVector franka_model::friction

(

const vpColVector &

dq

)

Definition at line 19 of file FrictionTorque.cpp.

gravityVector()

vpColVector franka_model::gravityVector	(	const vpColVector &	q,
		const double	mL = 0,
		const vpHomogeneousMatrix &	flMcom = vpHomogeneousMatrix(),
		const vpColVector &	g0 = vpColVector({0.0,0.0,-9.80665})
	)

Definition at line 26 of file GravityVector.cpp.

massMatrix()

vpMatrix franka_model::massMatrix	(	const vpColVector &	q,
		const double	mL = 0,
		const vpHomogeneousMatrix &	flMcom = vpHomogeneousMatrix(),
		const vpMatrix &	I_L = vpMatrix(3,3)
	)

Definition at line 25 of file MassMatrix.cpp.

Variable Documentation

FI_11

const double franka_model::FI_11 = 0.54615

Definition at line 38 of file franka_model.h.

FI_12

const double franka_model::FI_12 = 0.87224

Definition at line 39 of file franka_model.h.

FI_13

const double franka_model::FI_13 = 0.64068

Definition at line 40 of file franka_model.h.

FI_14

const double franka_model::FI_14 = 1.2794

Definition at line 41 of file franka_model.h.

FI_15

const double franka_model::FI_15 = 0.83904

Definition at line 42 of file franka_model.h.

FI_16

const double franka_model::FI_16 = 0.30301

Definition at line 43 of file franka_model.h.

FI_17

const double franka_model::FI_17 = 0.56489

Definition at line 44 of file franka_model.h.

FI_21

const double franka_model::FI_21 = 5.1181

Definition at line 46 of file franka_model.h.

FI_22

const double franka_model::FI_22 = 9.0657

Definition at line 47 of file franka_model.h.

FI_23

const double franka_model::FI_23 = 10.136

Definition at line 48 of file franka_model.h.

FI_24

const double franka_model::FI_24 = 5.5903

Definition at line 49 of file franka_model.h.

FI_25

const double franka_model::FI_25 = 8.3469

Definition at line 50 of file franka_model.h.

FI_26

const double franka_model::FI_26 = 17.133

Definition at line 51 of file franka_model.h.

FI_27

const double franka_model::FI_27 = 10.336

Definition at line 52 of file franka_model.h.

FI_31

const double franka_model::FI_31 = 0.039533

Definition at line 54 of file franka_model.h.

FI_32

const double franka_model::FI_32 = 0.025882

Definition at line 55 of file franka_model.h.

FI_33

const double franka_model::FI_33 = -0.04607

Definition at line 56 of file franka_model.h.

FI_34

const double franka_model::FI_34 = 0.036194

Definition at line 57 of file franka_model.h.

FI_35

const double franka_model::FI_35 = 0.026226

Definition at line 58 of file franka_model.h.

FI_36

const double franka_model::FI_36 = -0.021047

Definition at line 59 of file franka_model.h.

FI_37

const double franka_model::FI_37 = 0.0035526

Definition at line 60 of file franka_model.h.

njoints

const unsigned int franka_model::njoints = 7

Definition at line 21 of file franka_model.h.

TAU_F_CONST_1

const double franka_model::TAU_F_CONST_1 = FI_11/(1+exp(-FI_21*FI_31))

Definition at line 62 of file franka_model.h.

TAU_F_CONST_2

const double franka_model::TAU_F_CONST_2 = FI_12/(1+exp(-FI_22*FI_32))

Definition at line 63 of file franka_model.h.

TAU_F_CONST_3

const double franka_model::TAU_F_CONST_3 = FI_13/(1+exp(-FI_23*FI_33))

Definition at line 64 of file franka_model.h.

TAU_F_CONST_4

const double franka_model::TAU_F_CONST_4 = FI_14/(1+exp(-FI_24*FI_34))

Definition at line 65 of file franka_model.h.

TAU_F_CONST_5

const double franka_model::TAU_F_CONST_5 = FI_15/(1+exp(-FI_25*FI_35))

Definition at line 66 of file franka_model.h.

TAU_F_CONST_6

const double franka_model::TAU_F_CONST_6 = FI_16/(1+exp(-FI_26*FI_36))

Definition at line 67 of file franka_model.h.

TAU_F_CONST_7

const double franka_model::TAU_F_CONST_7 = FI_17/(1+exp(-FI_27*FI_37))

Definition at line 68 of file franka_model.h.