#include <vpRobotFrankaSim.h>

Inheritance diagram for vpRobotFrankaSim:

Public Member Functions
virtual void	add_tool (const vpHomogeneousMatrix &flMe, const double mL, const vpHomogeneousMatrix &flMcom, const vpMatrix &I_L)

void	get_eJe (const vpColVector &q, vpMatrix &fJe)

void	get_eJe (vpMatrix &eJe_)

vpHomogeneousMatrix	get_eMc () const

void	get_fJe (const vpColVector &q, vpMatrix &fJe)

void	get_fJe (vpMatrix &fJe)

vpHomogeneousMatrix	get_flMcom () const

vpHomogeneousMatrix	get_flMe () const

vpHomogeneousMatrix	get_fMe ()

vpHomogeneousMatrix	get_fMe (const vpColVector &q)

double	get_tool_mass () const

void	getCoriolis (vpColVector &coriolis)

void	getCoriolisMatrix (vpMatrix &coriolis)

virtual void	getForceTorque (const vpRobot::vpControlFrameType frame, vpColVector &force)

void	getFriction (vpColVector &friction)

void	getGravity (vpColVector &gravity)

void	getMass (vpMatrix &mass)

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &position)

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &position)

vpRobot::vpRobotStateType	getRobotState (void)

virtual void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &d_position)

virtual void	set_eMc (const vpHomogeneousMatrix &eMc)

virtual void	set_flMe (const vpHomogeneousMatrix &flMe)

virtual void	set_g0 (const vpColVector &g0)

virtual void	setForceTorque (const vpRobot::vpControlFrameType frame, const vpColVector &force)

virtual void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &position)

virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)

void	setVerbose (bool verbose)

	vpRobotFrankaSim ()

virtual	~vpRobotFrankaSim ()

Protected Member Functions
vpColVector	getVelDes ()

vpColVector	solveIK (const vpHomogeneousMatrix &edMw)

Protected Attributes
bool	m_camMounted

KDL::Chain	m_chain_kdl

KDL::ChainIkSolverVel_pinv *	m_diffIkSolver_kdl

vpColVector	m_dq

vpColVector	m_dq_des

vpColVector	m_dq_des_filt

KDL::JntArray	m_dq_des_kdl

vpHomogeneousMatrix	m_eMc

vpVelocityTwistMatrix	m_eVc

KDL::ChainFkSolverPos_recursive *	m_fksolver_kdl

vpHomogeneousMatrix	m_flMcom

vpHomogeneousMatrix	m_flMe

vpColVector	m_g0

KDL::ChainIkSolverPos_NR_JL *	m_iksolver_JL_kdl

vpMatrix	m_Il

KDL::ChainJntToJacSolver *	m_jacobianSolver_kdl

double	m_mL

std::mutex	m_mutex

vpColVector	m_q

vpColVector	m_q_des

KDL::JntArray	m_q_kdl

KDL::JntArray	m_q_max_kdl

KDL::JntArray	m_q_min_kdl

vpRobot::vpRobotStateType	m_stateRobot

vpColVector	m_tau_J

vpColVector	m_tau_J_des

vpColVector	m_tau_J_des_filt

bool	m_toolMounted

vpColVector	m_v_cart_des

bool	m_verbose

Detailed Description

Franka robot simulator.

Definition at line 67 of file vpRobotFrankaSim.h.

Constructor & Destructor Documentation

◆ vpRobotFrankaSim()

vpRobotFrankaSim::vpRobotFrankaSim ( )

Default constructor.

Definition at line 47 of file vpRobotFrankaSim.cpp.

◆ ~vpRobotFrankaSim()

vpRobotFrankaSim::~vpRobotFrankaSim ( )

virtual

Destructor that frees allocated memory.

Definition at line 120 of file vpRobotFrankaSim.cpp.

Member Function Documentation

◆ add_tool()

void vpRobotFrankaSim::add_tool	(	const vpHomogeneousMatrix &	flMe,
		const double	mL,
		const vpHomogeneousMatrix &	flMcom,
		const vpMatrix &	I_L
	)

virtual

Set the tool extrinsics as the homogeneous transformation between the robot flange and the end-effector frame. It modifies the robot kinematics of the last link as well as the dynamic model due to the mass and center of mass (CoM) of the plugged tool

Parameters

[in]	flMe	: Homogeneous transformation between the robot flange and end-effector frame.
[in]	mL	: Mass of the tool attached to the end-effector.
[in]	flMcom	: Homogeneous transformation between the robot flange and tool Center-of-Mass.
[in]	I_L	: Tool inertia tensor in CoM frame.

Examples: tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 222 of file vpRobotFrankaSim.cpp.

◆ get_eJe() [1/2]

void vpRobotFrankaSim::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)

Get robot Jacobian in the end-effector frame.

Parameters

[in]	q	: Joint position as a 7-dim vector with values in [rad].
[out]	eJe	: Corresponding 6-by-7 Jacobian matrix expressed in the end-effector frame.

Definition at line 344 of file vpRobotFrankaSim.cpp.

◆ get_eJe() [2/2]

void vpRobotFrankaSim::get_eJe ( vpMatrix & eJe )

Get robot Jacobian in the end-effector frame.

Parameters

[out] eJe : 6-by-7 Jacobian matrix corresponding to the robot current joint position expressed in the end-effector frame.

Definition at line 326 of file vpRobotFrankaSim.cpp.

◆ get_eMc()

vpHomogeneousMatrix vpRobotFrankaSim::get_eMc ( ) const

Get end-effector to camera constant homogeneous transformation.

Returns: End-effector to camera homogeneous transformation.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 366 of file vpRobotFrankaSim.cpp.

◆ get_fJe() [1/2]

void vpRobotFrankaSim::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)

Get robot Jacobian expressed in the robot base frame.

Parameters

[in]	q	: Joint position as a 7-dim vector with values in [rad].
[out]	fJe	: Corresponding 6-by-7 Jacobian matrix expressed in the robot base frame.

Definition at line 291 of file vpRobotFrankaSim.cpp.

◆ get_fJe() [2/2]

void vpRobotFrankaSim::get_fJe ( vpMatrix & fJe )

Get robot Jacobian expressed in the robot base frame considering the current joint position.

Parameters

[out] fJe : Corresponding 6-by-7 Jacobian matrix expressed in the robot base frame.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, and tutorial-franka-coppeliasim-dual-arm.cpp.

Definition at line 264 of file vpRobotFrankaSim.cpp.

◆ get_flMcom()

vpHomogeneousMatrix vpRobotFrankaSim::get_flMcom ( ) const

Get flange to tool CoM constant homogeneous transformation.

Returns: Flange to tool CoM homogeneous transformation.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp.

Definition at line 386 of file vpRobotFrankaSim.cpp.

◆ get_flMe()

vpHomogeneousMatrix vpRobotFrankaSim::get_flMe ( ) const

Get flange to end-effector constant homogeneous transformation.

Returns: Flange to end-effector homogeneous transformation.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp.

Definition at line 376 of file vpRobotFrankaSim.cpp.

◆ get_fMe() [1/2]

vpHomogeneousMatrix vpRobotFrankaSim::get_fMe ( )

Get robot direct kinematics corresponding to the homogeneous transformation between the robot base frame and the end-effector for the current joint position.

Returns: Homogeneous transformation between the robot base frame and the end-effector.

Definition at line 942 of file vpRobotFrankaSim.cpp.

◆ get_fMe() [2/2]

vpHomogeneousMatrix vpRobotFrankaSim::get_fMe ( const vpColVector & q )

Get robot direct kinematics corresponding to the homogeneous transformation between the robot base frame and the end-effector for a given joint position.

Parameters

[in] q : Joint position to consider as a 7-dim vector with values in [rad].

Returns: Homogeneous transformation between the robot base frame and the end-effector.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, and tutorial-franka-coppeliasim-dual-arm.cpp.

Definition at line 978 of file vpRobotFrankaSim.cpp.

◆ get_tool_mass()

double vpRobotFrankaSim::get_tool_mass ( ) const

Get the mass of the attached tool in kg.

Returns: Tool mass [kg].

Examples: tutorial-franka-coppeliasim-dual-arm.cpp.

Definition at line 396 of file vpRobotFrankaSim.cpp.

◆ getCoriolis()

void vpRobotFrankaSim::getCoriolis ( vpColVector & coriolis )

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

Parameters

[out] coriolis : Coriolis 7-dim force vector.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, and tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 1042 of file vpRobotFrankaSim.cpp.

◆ getCoriolisMatrix()

void vpRobotFrankaSim::getCoriolisMatrix ( vpMatrix & coriolis )

Get the Coriolis matrix (state-space equation) calculated from the current robot state: $ C $ , in $[Kg m^2 / s]$ .

Parameters

[out] coriolis : 7x7 Coriolis matrix, row-major.

Definition at line 1056 of file vpRobotFrankaSim.cpp.

◆ getForceTorque()

void vpRobotFrankaSim::getForceTorque	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	force
	)

virtual

Get robot force/torque.

Parameters

[in]	frame	: Control frame to consider.
[out]	force	: Measured force/torque. When `frame` is set to vpRobot::JOINT_STATE, `force` is a 7-dim vector that contains torques in [Nm]. When `frame` is set to vpRobot::REFERENCE_FRAME, `force` is a 6-dim vector that contains cartesian end-effector forces/torques expressed in the reference frame. This vector contains 3 forces [Fx, Fy, Fz] in [N] followed by 3 torques [Tx, Ty, Tz] in [Nm]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `force` is a 6-dim vector that contains cartesian end-effector forces/torques expressed in the end-effector frame. This vector contains 3 forces [Fx, Fy, Fz] in [N] followed by 3 torques [Tx, Ty, Tz] in [Nm].

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, and tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 825 of file vpRobotFrankaSim.cpp.

◆ getFriction()

void vpRobotFrankaSim::getFriction ( vpColVector & friction )

Get the friction vector calculated from the current robot state. Unit: $[Nm]$ .

Parameters

[out] friction : Friction 7-dim vector.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, and tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 144 of file vpRobotFrankaSim.cpp.

◆ getGravity()

void vpRobotFrankaSim::getGravity ( vpColVector & gravity )

Get the gravity vector calculated from the current robot state. Unit: $[Nm]$ .

Parameters

[out] gravity : Gravity 7-dim vector.

Definition at line 1030 of file vpRobotFrankaSim.cpp.

◆ getMass()

void vpRobotFrankaSim::getMass ( vpMatrix & mass )

Get the 7x7 mass matrix. Unit: $[kg \times m^2]$ .

Parameters

[out] mass : 7x7 mass matrix, row-major.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, and tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 1019 of file vpRobotFrankaSim.cpp.

◆ getPosition() [1/2]

void vpRobotFrankaSim::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	position
	)

virtual

Get robot position.

Parameters

[in]	frame	: Control frame to consider.
[out]	position	: Robot position. When frame is set to vpRobot::JOINT_STATE, `position` is a 7-dim vector that contains the joint positions in [rad]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `position` is a 6-dim vector that contains the pose of the end-effector in the robot base frame. This pose vector contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad]. When `frame` is set to vpRobot::CAMERA_FRAME, `position` is a 6-dim vector that contains the pose of the camera in the robot base frame. This pose vector contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad].

Examples: test-vel.cpp, tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 417 of file vpRobotFrankaSim.cpp.

◆ getPosition() [2/2]

void vpRobotFrankaSim::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpPoseVector &	position
	)

virtual

Get robot cartesian position.

Parameters

[in]	frame	: Control frame to consider. Admissible values are vpRobot::END_EFFECTOR_FRAME and vpRobot::CAMERA_FRAME.
[out]	position	: Robot cartesian position. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `position` is a 6-dim pose vector that contains the pose of the end-effector in the robot base frame. This pose vector contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad]. When `frame` is set to vpRobot::CAMERA_FRAME, `position` is a 6-dim pose vector that contains the pose of the camera in the robot base frame. This pose vector contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad].

Definition at line 472 of file vpRobotFrankaSim.cpp.

◆ getRobotState()

vpRobot::vpRobotStateType vpRobotFrankaSim::getRobotState ( void )

Get current robot control state.

Returns: Control state.

Definition at line 254 of file vpRobotFrankaSim.cpp.

◆ getVelDes()

vpColVector vpRobotFrankaSim::getVelDes ( )

protected

Return desired joint velocities applied to the robot.

Definition at line 134 of file vpRobotFrankaSim.cpp.

◆ getVelocity()

void vpRobotFrankaSim::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity
	)

virtual

Get robot velocity.

Parameters

[in]	frame	: Control frame to consider.
[out]	velocity	: Robot velocity. When `frame` is set to vpRobot::JOINT_STATE, `velocity` is a 7-dim vector corresponding to the joint velocities in [rad/s]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `velocity` is a 6-dim vector corresponding to the cartesian velocities of the end-effector expressed in the end-effector. This vector contains the 3 translational velocities in [m/s] followed by the 3 rotational velocities in [rad/s]. When `frame` is set to vpRobot::REFERENCE_FRAME, `velocity` is a 6-dim vector corresponding to the cartesian velocities of the end-effector expressed in the robot base frame. This vector contains the 3 translational velocities in [m/s] followed by the 3 rotational velocities in [rad/s].

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, and tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 627 of file vpRobotFrankaSim.cpp.

◆ set_eMc()

void vpRobotFrankaSim::set_eMc ( const vpHomogeneousMatrix & eMc )

virtual

Set camera extrinsics as the homogeneous transformation between the end-effector and the camera frame.

Parameters

[in] eMc : Homogeneous transformation between the end-effector and the camera frame.

Examples: tutorial-franka-coppeliasim-ibvs-apriltag.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 157 of file vpRobotFrankaSim.cpp.

◆ set_flMe()

void vpRobotFrankaSim::set_flMe ( const vpHomogeneousMatrix & flMe )

virtual

Set end-effecto extrinsics as the homogeneous transformation between the flange and the end-effector frame.

Parameters

[in] flMe : Homogeneous transformation between the end-effector and the flange frame.

Definition at line 172 of file vpRobotFrankaSim.cpp.

◆ set_g0()

void vpRobotFrankaSim::set_g0 ( const vpColVector & g0 )

virtual

Set the absolute acceleration vector in robot's base frame.

Parameters

[in] g0 : gravitational acceleration vector in base frame.

Definition at line 205 of file vpRobotFrankaSim.cpp.

◆ setForceTorque()

void vpRobotFrankaSim::setForceTorque	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	force
	)

virtual

Set robot force/torque.

Parameters

[in]	frame	: Control frame to consider.
[in]	force	: Force/torque applied to the robot. When `frame` is set to vpRobot::JOINT_STATE, `force` is a 7-dim vector that contains torques in [Nm]. When `frame` is set to vpRobot::REFERENCE_FRAME, `force` is a 6-dim vector that contains cartesian end-effector forces/torques expressed in the reference frame. This vector contains 3 forces [Fx, Fy, Fz] in [N] followed by 3 torques [Tx, Ty, Tz] in [Nm]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `force` is a 6-dim vector that contains cartesian end-effector forces/torques expressed in the end-effector frame. This vector contains 3 forces [Fx, Fy, Fz] in [N] followed by 3 torques [Tx, Ty, Tz] in [Nm].

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, and tutorial-franka-coppeliasim-joint-impedance-control.cpp.

Definition at line 875 of file vpRobotFrankaSim.cpp.

◆ setPosition()

void vpRobotFrankaSim::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	position
	)

virtual

Set robot position.

Parameters

[in]	frame	: Control frame to consider.
[in]	position	: Position to reach. When `frame` is set to vpRobot::JOINT_STATE, `position` is a 7-dim vector that contains joint positions in [rad]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `position` is a 6-dim vector containing the pose of the end-effector in the robot base frame. This pose contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad]. When `frame` is set to vpRobot::CAMERA_FRAME, `position` is a 6-dim vector containing the pose of the camera in the robot base frame. This pose contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad].

Reimplemented in vpROSRobotFrankaCoppeliasim.

Definition at line 505 of file vpRobotFrankaSim.cpp.

◆ setVelocity()

void vpRobotFrankaSim::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	velocity
	)

virtual

Set robot velocity.

Parameters

[in]	frame	: Control frame to consider.
[in]	velocity	: Velocity to apply to the robot. When `frame` is set to vpRobot::JOINT_STATE, `velocity` is a 7-dim vector corresponding to the joint velocities in [rad/s]. When `frame` is set to vpRobot::REFERENCE_FRAME, `velocity` is a 6-dim vector corresponding to the cartesian velocities of the end-effector expressed in the robot base frame. This vector contains the 3 translational velocities in [m/s] followed by the 3 rotational velocities in [rad/s]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `velocity` is a 6-dim vector corresponding to the cartesian velocities of the end-effector expressed in the end-effector frame. This vector contains the 3 translational velocities in [m/s] followed by the 3 rotational velocities in [rad/s]. When `frame` is set to vpRobot::CAMERA_FRAME, `velocity` is a 6-dim vector corresponding to the cartesian velocities of the camera expressed in the camera frame. This vector contains the 3 translational velocities in [m/s] followed by the 3 rotational velocities in [rad/s].

Examples: test-vel.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 683 of file vpRobotFrankaSim.cpp.

◆ setVerbose()

void vpRobotFrankaSim::setVerbose ( bool verbose )

inline

Enable/disable verbose mode to print additional info.

Parameters

verbose : true to enable verbose mode, false otherwise.

Examples: test-vel.cpp, tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 111 of file vpRobotFrankaSim.h.

◆ solveIK()

vpColVector vpRobotFrankaSim::solveIK ( const vpHomogeneousMatrix & wMe )

protected

Solve inverse kinematics.

Parameters

wMe	: Robot base frame to end-effector homogeneous transformation.

Returns: Corresponding joint position as a 7-dim vector with values in [rad].

Definition at line 566 of file vpRobotFrankaSim.cpp.

Member Data Documentation

◆ m_camMounted

bool vpRobotFrankaSim::m_camMounted

protected

Definition at line 123 of file vpRobotFrankaSim.h.

◆ m_chain_kdl

KDL::Chain vpRobotFrankaSim::m_chain_kdl

protected

Definition at line 135 of file vpRobotFrankaSim.h.

◆ m_diffIkSolver_kdl

KDL::ChainIkSolverVel_pinv* vpRobotFrankaSim::m_diffIkSolver_kdl

protected

Definition at line 140 of file vpRobotFrankaSim.h.

◆ m_dq

vpColVector vpRobotFrankaSim::m_dq

protected

Definition at line 115 of file vpRobotFrankaSim.h.

◆ m_dq_des

vpColVector vpRobotFrankaSim::m_dq_des

protected

Definition at line 148 of file vpRobotFrankaSim.h.

◆ m_dq_des_filt

vpColVector vpRobotFrankaSim::m_dq_des_filt

protected

Definition at line 149 of file vpRobotFrankaSim.h.

◆ m_dq_des_kdl

KDL::JntArray vpRobotFrankaSim::m_dq_des_kdl

protected

Definition at line 134 of file vpRobotFrankaSim.h.

◆ m_eMc

vpHomogeneousMatrix vpRobotFrankaSim::m_eMc

protected

Definition at line 155 of file vpRobotFrankaSim.h.

◆ m_eVc

vpVelocityTwistMatrix vpRobotFrankaSim::m_eVc

protected

Definition at line 156 of file vpRobotFrankaSim.h.

◆ m_fksolver_kdl

KDL::ChainFkSolverPos_recursive* vpRobotFrankaSim::m_fksolver_kdl

protected

Definition at line 138 of file vpRobotFrankaSim.h.

◆ m_flMcom

vpHomogeneousMatrix vpRobotFrankaSim::m_flMcom

protected

Definition at line 119 of file vpRobotFrankaSim.h.

◆ m_flMe

vpHomogeneousMatrix vpRobotFrankaSim::m_flMe

protected

Definition at line 121 of file vpRobotFrankaSim.h.

◆ m_g0

vpColVector vpRobotFrankaSim::m_g0

protected

Definition at line 125 of file vpRobotFrankaSim.h.

◆ m_iksolver_JL_kdl

KDL::ChainIkSolverPos_NR_JL* vpRobotFrankaSim::m_iksolver_JL_kdl

protected

Definition at line 141 of file vpRobotFrankaSim.h.

◆ m_Il

vpMatrix vpRobotFrankaSim::m_Il

protected

Definition at line 120 of file vpRobotFrankaSim.h.

◆ m_jacobianSolver_kdl

KDL::ChainJntToJacSolver* vpRobotFrankaSim::m_jacobianSolver_kdl

protected

Definition at line 139 of file vpRobotFrankaSim.h.

◆ m_mL

double vpRobotFrankaSim::m_mL

protected

Definition at line 118 of file vpRobotFrankaSim.h.

◆ m_mutex

std::mutex vpRobotFrankaSim::m_mutex

protected

Definition at line 127 of file vpRobotFrankaSim.h.

◆ m_q

vpColVector vpRobotFrankaSim::m_q

protected

Definition at line 114 of file vpRobotFrankaSim.h.

◆ m_q_des

vpColVector vpRobotFrankaSim::m_q_des

protected

Definition at line 146 of file vpRobotFrankaSim.h.

◆ m_q_kdl

KDL::JntArray vpRobotFrankaSim::m_q_kdl

protected

Definition at line 133 of file vpRobotFrankaSim.h.

◆ m_q_max_kdl

KDL::JntArray vpRobotFrankaSim::m_q_max_kdl

protected

Definition at line 137 of file vpRobotFrankaSim.h.

◆ m_q_min_kdl

KDL::JntArray vpRobotFrankaSim::m_q_min_kdl

protected

Definition at line 136 of file vpRobotFrankaSim.h.

◆ m_stateRobot

vpRobot::vpRobotStateType vpRobotFrankaSim::m_stateRobot

protected

Definition at line 144 of file vpRobotFrankaSim.h.

◆ m_tau_J

vpColVector vpRobotFrankaSim::m_tau_J

protected

Definition at line 116 of file vpRobotFrankaSim.h.

◆ m_tau_J_des

vpColVector vpRobotFrankaSim::m_tau_J_des

protected

Definition at line 152 of file vpRobotFrankaSim.h.

◆ m_tau_J_des_filt

vpColVector vpRobotFrankaSim::m_tau_J_des_filt

protected

Definition at line 153 of file vpRobotFrankaSim.h.

◆ m_toolMounted

bool vpRobotFrankaSim::m_toolMounted

protected

Definition at line 122 of file vpRobotFrankaSim.h.

◆ m_v_cart_des

vpColVector vpRobotFrankaSim::m_v_cart_des

protected

Definition at line 150 of file vpRobotFrankaSim.h.

◆ m_verbose

bool vpRobotFrankaSim::m_verbose

protected

Definition at line 158 of file vpRobotFrankaSim.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpRobotFrankaSim()

◆ ~vpRobotFrankaSim()

Member Function Documentation

◆ add_tool()

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ get_eMc()

◆ get_fJe() [1/2]

◆ get_fJe() [2/2]

◆ get_flMcom()

◆ get_flMe()

◆ get_fMe() [1/2]

◆ get_fMe() [2/2]

◆ get_tool_mass()

◆ getCoriolis()

◆ getCoriolisMatrix()

◆ getForceTorque()

◆ getFriction()

◆ getGravity()

◆ getMass()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getRobotState()

◆ getVelDes()

◆ getVelocity()

◆ set_eMc()

◆ set_flMe()

◆ set_g0()

◆ setForceTorque()

◆ setPosition()

◆ setVelocity()

◆ setVerbose()

◆ solveIK()

Member Data Documentation

◆ m_camMounted

◆ m_chain_kdl

◆ m_diffIkSolver_kdl

◆ m_dq

◆ m_dq_des

◆ m_dq_des_filt

◆ m_dq_des_kdl

◆ m_eMc

◆ m_eVc

◆ m_fksolver_kdl

◆ m_flMcom

◆ m_flMe

◆ m_g0

◆ m_iksolver_JL_kdl

◆ m_Il

◆ m_jacobianSolver_kdl

◆ m_mL

◆ m_mutex

◆ m_q

◆ m_q_des

◆ m_q_kdl

◆ m_q_max_kdl

◆ m_q_min_kdl

◆ m_stateRobot

◆ m_tau_J

◆ m_tau_J_des

◆ m_tau_J_des_filt

◆ m_toolMounted

◆ m_v_cart_des

◆ m_verbose