visp_ros: franka_model.h File Reference

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMatrix.h>

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

vpColVector	franka_model::friction (const vpColVector &dq)

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}))

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

Variables
const double	franka_model::FI_11 = 0.54615

const double	franka_model::FI_12 = 0.87224

const double	franka_model::FI_13 = 0.64068

const double	franka_model::FI_14 = 1.2794

const double	franka_model::FI_15 = 0.83904

const double	franka_model::FI_16 = 0.30301

const double	franka_model::FI_17 = 0.56489

const double	franka_model::FI_21 = 5.1181

const double	franka_model::FI_22 = 9.0657

const double	franka_model::FI_23 = 10.136

const double	franka_model::FI_24 = 5.5903

const double	franka_model::FI_25 = 8.3469

const double	franka_model::FI_26 = 17.133

const double	franka_model::FI_27 = 10.336

const double	franka_model::FI_31 = 0.039533

const double	franka_model::FI_32 = 0.025882

const double	franka_model::FI_33 = -0.04607

const double	franka_model::FI_34 = 0.036194

const double	franka_model::FI_35 = 0.026226

const double	franka_model::FI_36 = -0.021047

const double	franka_model::FI_37 = 0.0035526

const unsigned int	franka_model::njoints = 7

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

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

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

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

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

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

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

Namespaces