An implementation of the abstract ModelBase specialized for obtaining the model from the real robot. More...

#include <model.h>

Inheritance diagram for franka_hw::Model:

Public Member Functions
std::array< double, 42 >	bodyJacobian (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 override
	Gets the 6x7 Jacobian for the given frame, relative to that frame. More...

std::array< double, 7 >	coriolis (const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexcept override
	Calculates the Coriolis force vector (state-space equation): $c= C \times dq$ , in . More...

std::array< double, 7 >	gravity (const std::array< double, 7 > &q, double m_total, const std::array< double, 3 > &F_x_Ctotal, const std::array< double, 3 > &gravity_earth) const noexcept override
	Calculates the gravity vector. More...

std::array< double, 49 >	mass (const std::array< double, 7 > &q, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const noexcept override
	Calculates the 7x7 mass matrix. More...

	Model (franka::Model &&model)
	Create a new Model instance wrapped around a franka::Model. More...

std::array< double, 16 >	pose (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 override
	Gets the 4x4 pose matrix for the given frame in base frame. More...

std::array< double, 42 >	zeroJacobian (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 override
	Gets the 6x7 Jacobian for the given joint relative to the base frame. More...

Public Member Functions inherited from franka_hw::ModelBase
std::array< double, 42 >	bodyJacobian (franka::Frame frame, const franka::RobotState &robot_state) const
	Gets the 6x7 Jacobian for the given frame, relative to that frame. More...

std::array< double, 7 >	coriolis (const franka::RobotState &robot_state) const
	Calculates the Coriolis force vector (state-space equation): $c= C \times dq$ , in . More...

std::array< double, 7 >	gravity (const franka::RobotState &robot_state) const
	Calculates the gravity vector. More...

std::array< double, 7 >	gravity (const franka::RobotState &robot_state, const std::array< double, 3 > &gravity_earth) const
	Calculates the gravity vector. More...

std::array< double, 7 >	gravity (const std::array< double, 7 > &q, double m_total, const std::array< double, 3 > &F_x_Ctotal) const
	Calculates the gravity vector. More...

std::array< double, 49 >	mass (const franka::RobotState &robot_state) const
	Calculates the 7x7 mass matrix. More...

std::array< double, 16 >	pose (franka::Frame frame, const franka::RobotState &robot_state) const
	Gets the 4x4 pose matrix for the given frame in base frame. More...

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

virtual	~ModelBase () noexcept=default

Private Attributes
franka::Model	model_

Detailed Description

An implementation of the abstract ModelBase specialized for obtaining the model from the real robot.

This class is a thin wrapper around a franka::Model and delegates all calls to that

Definition at line 17 of file model.h.

Constructor & Destructor Documentation

◆ Model()

franka_hw::Model::Model ( franka::Model && model )

inline

Create a new Model instance wrapped around a franka::Model.

Definition at line 22 of file model.h.

Member Function Documentation

◆ bodyJacobian()

std::array<double, 42> franka_hw::Model::bodyJacobian	(	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

inlineoverridevirtual

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

The Jacobian is represented as a 6x7 matrix in column-major format.

Parameters

[in]	frame	The desired frame.
[in]	q	Joint position.
[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.

Implements franka_hw::ModelBase.

Definition at line 33 of file model.h.

◆ coriolis()

std::array<double, 7> franka_hw::Model::coriolis	(	const std::array< double, 7 > &	q,
		const std::array< double, 7 > &	dq,
		const std::array< double, 9 > &	I_total,
		double	m_total,
		const std::array< double, 3 > &	F_x_Ctotal
	)		const

inlineoverridevirtualnoexcept

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

Parameters

[in]	q	Joint position.
[in]	dq	Joint velocity.
[in]	I_total	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]	m_total	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. Unit: .

Returns: Coriolis force vector.

Implements franka_hw::ModelBase.

Definition at line 60 of file model.h.

◆ gravity()

std::array<double, 7> franka_hw::Model::gravity	(	const std::array< double, 7 > &	q,
		double	m_total,
		const std::array< double, 3 > &	F_x_Ctotal,
		const std::array< double, 3 > &	gravity_earth
	)		const

inlineoverridevirtualnoexcept

Calculates the gravity vector.

Unit: $[Nm]$ .

Parameters

[in]	q	Joint position.
[in]	m_total	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. Unit: .
[in]	gravity_earth	Earth's gravity vector. Unit: $\frac{m}{s^2}$ .

Returns: Gravity vector.

Implements franka_hw::ModelBase.

Definition at line 70 of file model.h.

◆ mass()

std::array<double, 49> franka_hw::Model::mass	(	const std::array< double, 7 > &	q,
		const std::array< double, 9 > &	I_total,
		double	m_total,
		const std::array< double, 3 > &	F_x_Ctotal
	)		const

inlineoverridevirtualnoexcept

Calculates the 7x7 mass matrix.

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

Parameters

[in]	q	Joint position.
[in]	I_total	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]	m_total	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. Unit: .

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

Implements franka_hw::ModelBase.

Definition at line 51 of file model.h.

◆ pose()

std::array<double, 16> franka_hw::Model::pose	(	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

inlineoverridevirtual

Gets the 4x4 pose matrix for the given frame in base frame.

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

Parameters

[in]	frame	The desired frame.
[in]	q	Joint position.
[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.

Implements franka_hw::ModelBase.

Definition at line 24 of file model.h.

◆ zeroJacobian()

std::array<double, 42> franka_hw::Model::zeroJacobian	(	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

inlineoverridevirtual

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.

Parameters

[in]	frame	The desired frame.
[in]	q	Joint position.
[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.

Implements franka_hw::ModelBase.

Definition at line 42 of file model.h.

Member Data Documentation

◆ model_

franka::Model franka_hw::Model::model_

private

Definition at line 79 of file model.h.

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

model.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Model()

Member Function Documentation

◆ bodyJacobian()

◆ coriolis()

◆ gravity()

◆ mass()

◆ pose()

◆ zeroJacobian()

Member Data Documentation

◆ model_