Handle to perform calculations using the dynamic model of a robot. More...

#include <franka_model_interface.h>

Public Member Functions
	FrankaModelHandle ()=delete

	FrankaModelHandle (const std::string &name, franka_hw::ModelBase &model, franka::RobotState &robot_state)
	Creates an instance of a FrankaModelHandle. More...

std::array< double, 42 >	getBodyJacobian (const franka::Frame &frame) const
	Gets the 6x7 Jacobian for the given frame, relative to that frame. More...

std::array< double, 42 >	getBodyJacobian (const franka::Frame &frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
	Gets the 6x7 Jacobian for the given frame, relative to that frame. More...

std::array< double, 7 >	getCoriolis () const
	Calculates the Coriolis force vector (state-space equation) from the current robot state: $c= C \times dq$ , in . More...

std::array< double, 7 >	getCoriolis (const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &total_inertia, double total_mass, const std::array< double, 3 > &F_x_Ctotal) const
	Calculates the Coriolis force vector (state-space equation) from the given robot state: $c= C \times dq$ , in . More...

std::array< double, 7 >	getGravity (const std::array< double, 3 > &gravity_earth={ {0., 0., -9.81}}) const
	Calculates the gravity vector from the current robot state. More...

std::array< double, 7 >	getGravity (const std::array< double, 7 > &q, double total_mass, const std::array< double, 3 > &F_x_Ctotal, const std::array< double, 3 > &gravity_earth={{0., 0., -9.81}}) const
	Calculates the gravity vector from the given robot state. More...

std::array< double, 49 >	getMass () const
	Calculates the 7x7 mass matrix from the current robot state. More...

std::array< double, 49 >	getMass (const std::array< double, 7 > &q, const std::array< double, 9 > &total_inertia, double total_mass, const std::array< double, 3 > &F_x_Ctotal) const
	Calculates the 7x7 mass matrix from a given robot state. More...

std::string	getName () const noexcept
	Gets the name of the model handle. More...

std::array< double, 16 >	getPose (const franka::Frame &frame) const
	Gets the 4x4 pose matrix for the given frame in base frame, calculated from the current robot state. More...

std::array< double, 16 >	getPose (const franka::Frame &frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
	Gets the 4x4 pose matrix for the given frame in base frame, calculated from the given robot state. More...

std::array< double, 42 >	getZeroJacobian (const franka::Frame &frame) const
	Gets the 6x7 Jacobian for the given joint relative to the base frame. More...

std::array< double, 42 >	getZeroJacobian (const franka::Frame &frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const
	Gets the 6x7 Jacobian for the given joint relative to the base frame. More...

Private Attributes
const franka_hw::ModelBase *	model_

std::string	name_

const franka::RobotState *	robot_state_

Detailed Description

Handle to perform calculations using the dynamic model of a robot.

Definition at line 19 of file franka_model_interface.h.

Constructor & Destructor Documentation

◆ FrankaModelHandle() [1/2]

franka_hw::FrankaModelHandle::FrankaModelHandle ( )

delete

◆ FrankaModelHandle() [2/2]

franka_hw::FrankaModelHandle::FrankaModelHandle	(	const std::string &	name,
		franka_hw::ModelBase &	model,
		franka::RobotState &	robot_state
	)

inline

Creates an instance of a FrankaModelHandle.

Parameters

[in]	name	The name of the model handle.
[in]	model	A reference to an implementation of the abstract franka_hw::ModelBase class wrapped by this handle
[in]	robot_state	A reference to the current robot state.

Definition at line 30 of file franka_model_interface.h.

Member Function Documentation

◆ getBodyJacobian() [1/2]

std::array<double, 42> franka_hw::FrankaModelHandle::getBodyJacobian ( const franka::Frame & frame ) const

inline

Gets the 6x7 Jacobian for the given frame, relative to that frame.

The Jacobian is represented as a 6x7 matrix in column-major format and calculated from the current robot state.

Parameters

[in] frame The desired frame.

Returns: Vectorized 6x7 Jacobian, column-major.

See also: franka::Model::bodyJacobian

Definition at line 203 of file franka_model_interface.h.

◆ getBodyJacobian() [2/2]

std::array<double, 42> franka_hw::FrankaModelHandle::getBodyJacobian	(	const franka::Frame &	frame,
		const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	F_T_EE,
		const std::array< double, 16 > &	EE_T_K
	)		const

inline

Gets the 6x7 Jacobian for the given frame, relative to that frame.

The Jacobian is represented as a 6x7 matrix in column-major format and calculated from the given robot state.

Parameters

[in]	frame	The desired frame.
[in]	q	Joint position. Unit: .
[in]	F_T_EE	End effector in flange frame.
[in]	EE_T_K	Stiffness frame K in the end effector frame.

Returns: Vectorized 6x7 Jacobian, column-major.

See also: franka::Model::bodyJacobian

Definition at line 222 of file franka_model_interface.h.

◆ getCoriolis() [1/2]

std::array<double, 7> franka_hw::FrankaModelHandle::getCoriolis ( ) const

inline

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

Returns: Coriolis force vector.

See also: franka::Model::coriolis

Definition at line 83 of file franka_model_interface.h.

◆ getCoriolis() [2/2]

std::array<double, 7> franka_hw::FrankaModelHandle::getCoriolis	(	const std::array< double, 7 > &	q,
		const std::array< double, 7 > &	dq,
		const std::array< double, 9 > &	total_inertia,
		double	total_mass,
		const std::array< double, 3 > &	F_x_Ctotal
	)		const

inline

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

Parameters

[in]	q	Joint position. Unit: .
[in]	dq	Joint velocity. Unit: $[\frac{rad}{s}]$ .
[in]	total_inertia	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]	total_mass	Weight of the attached total load including end effector. Unit: .
[in]	F_x_Ctotal	Translation from flange to center of mass of the attached total load including end effector. Unit: .

Returns: Coriolis force vector.

See also: franka::Model::coriolis

Definition at line 103 of file franka_model_interface.h.

◆ getGravity() [1/2]

std::array<double, 7> franka_hw::FrankaModelHandle::getGravity ( const std::array< double, 3 > & gravity_earth = { {0., 0., -9.81}} ) const

inline

Calculates the gravity vector from the current robot state.

Unit: $[Nm]$ .

Parameters

[in] gravity_earth Earth's gravity vector. Unit: $\frac{m}{s^2}$ . Default to {0.0, 0.0, -9.81}.

Returns: Gravity vector.

See also: franka::Model::gravity

Definition at line 122 of file franka_model_interface.h.

◆ getGravity() [2/2]

std::array<double, 7> franka_hw::FrankaModelHandle::getGravity	(	const std::array< double, 7 > &	q,
		double	total_mass,
		const std::array< double, 3 > &	F_x_Ctotal,
		const std::array< double, 3 > &	gravity_earth = `{{0., 0., -9.81}}`
	)		const

inline

Calculates the gravity vector from the given robot state.

Unit: $[Nm]$ .

Parameters

[in]	q	Joint position. Unit: .
[in]	total_mass	Weight of the attached total load including end effector. Unit: .
[in]	F_x_Ctotal	Translation from flange to center of mass of the attached total load including end effector. Unit: .
[in]	gravity_earth	Earth's gravity vector. Unit: $\frac{m}{s^2}$ . Default to {0.0, 0.0, -9.81}.

Returns: Gravity vector.

See also: franka::Model::gravity

Definition at line 143 of file franka_model_interface.h.

◆ getMass() [1/2]

std::array<double, 49> franka_hw::FrankaModelHandle::getMass ( ) const

inline

Calculates the 7x7 mass matrix from the current robot state.

Unit: $[kg \times m^2]$ .

Returns: Vectorized 7x7 mass matrix, column-major.

See also: franka::Model::mass

Definition at line 49 of file franka_model_interface.h.

◆ getMass() [2/2]

std::array<double, 49> franka_hw::FrankaModelHandle::getMass	(	const std::array< double, 7 > &	q,
		const std::array< double, 9 > &	total_inertia,
		double	total_mass,
		const std::array< double, 3 > &	F_x_Ctotal
	)		const

inline

Calculates the 7x7 mass matrix from a given robot state.

Unit: $[kg \times m^2]$ .

Parameters

[in]	q	Joint position. Unit: .
[in]	total_inertia	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]	total_mass	Weight of the attached total load including end effector. Unit: .
[in]	F_x_Ctotal	Translation from flange to center of mass of the attached total load including end effector. Unit: .

Returns: Vectorized 7x7 mass matrix, column-major.

See also: franka::Model::mass

Definition at line 67 of file franka_model_interface.h.

◆ getName()

std::string franka_hw::FrankaModelHandle::getName ( ) const

inlinenoexcept

Gets the name of the model handle.

Returns: Name of the model handle.

Definition at line 40 of file franka_model_interface.h.

◆ getPose() [1/2]

std::array<double, 16> franka_hw::FrankaModelHandle::getPose ( const franka::Frame & frame ) const

inline

Gets the 4x4 pose matrix for the given frame in base frame, calculated from the current robot state.

The pose is represented as a 4x4 matrix in column-major format.

Parameters

[in] frame The desired frame.

Returns: Vectorized 4x4 pose matrix, column-major.

See also: franka::Model::pose

Definition at line 163 of file franka_model_interface.h.

◆ getPose() [2/2]

std::array<double, 16> franka_hw::FrankaModelHandle::getPose	(	const franka::Frame &	frame,
		const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	F_T_EE,
		const std::array< double, 16 > &	EE_T_K
	)		const

inline

Gets the 4x4 pose matrix for the given frame in base frame, calculated from the given robot state.

The pose is represented as a 4x4 matrix in column-major format.

Parameters

[in]	frame	The desired frame.
[in]	q	Joint position. Unit: .
[in]	F_T_EE	End effector in flange frame.
[in]	EE_T_K	Stiffness frame K in the end effector frame.

Returns: Vectorized 4x4 pose matrix, column-major.

See also: franka::Model::pose

Definition at line 182 of file franka_model_interface.h.

◆ getZeroJacobian() [1/2]

std::array<double, 42> franka_hw::FrankaModelHandle::getZeroJacobian ( const franka::Frame & frame ) const

inline

Gets the 6x7 Jacobian for the given joint relative to the base frame.

The Jacobian is represented as a 6x7 matrix in column-major format and calculated from the current robot state.

Parameters

[in] frame The desired frame.

Returns: Vectorized 6x7 Jacobian, column-major.

See also: franka::Model::zeroJacobian

Definition at line 243 of file franka_model_interface.h.

◆ getZeroJacobian() [2/2]

std::array<double, 42> franka_hw::FrankaModelHandle::getZeroJacobian	(	const franka::Frame &	frame,
		const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	F_T_EE,
		const std::array< double, 16 > &	EE_T_K
	)		const

inline

Gets the 6x7 Jacobian for the given joint relative to the base frame.

The Jacobian is represented as a 6x7 matrix in column-major format and calculated from the given robot state.

Parameters

[in]	frame	The desired frame.
[in]	q	Joint position. Unit: .
[in]	F_T_EE	End effector in flange frame.
[in]	EE_T_K	Stiffness frame K in the end effector frame.

Returns: Vectorized 6x7 Jacobian, column-major.

See also: franka::Model::zeroJacobian

Definition at line 262 of file franka_model_interface.h.

Member Data Documentation

◆ model_

const franka_hw::ModelBase* franka_hw::FrankaModelHandle::model_

private

Definition at line 273 of file franka_model_interface.h.

◆ name_

std::string franka_hw::FrankaModelHandle::name_

private

Definition at line 272 of file franka_model_interface.h.

◆ robot_state_

const franka::RobotState* franka_hw::FrankaModelHandle::robot_state_

private

Definition at line 274 of file franka_model_interface.h.

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

franka_model_interface.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FrankaModelHandle() [1/2]

◆ FrankaModelHandle() [2/2]

Member Function Documentation

◆ getBodyJacobian() [1/2]

◆ getBodyJacobian() [2/2]

◆ getCoriolis() [1/2]

◆ getCoriolis() [2/2]

◆ getGravity() [1/2]

◆ getGravity() [2/2]

◆ getMass() [1/2]

◆ getMass() [2/2]

◆ getName()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getZeroJacobian() [1/2]

◆ getZeroJacobian() [2/2]

Member Data Documentation

◆ model_

◆ name_

◆ robot_state_