Class ModelKDL
Defined in File model_kdl.h
Class Documentation
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class ModelKDL
Calculates poses of links and dynamic properties of the robot.
This implementation of ModelBase uses KDL as backend for calculating dynamic and kinematic properties of the robot.
Public Functions
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ModelKDL(const urdf::Model &model, const std::string &root, const std::string &tip)
Create a new implementation for the ModelBase with KDL as backend
- Parameters:
model – [in] the URDF from which to interprete the kinematic chain
root – [in] the link name of the root of the chain
tip – [in] the link name of the tip of the chain
- Throws:
std::invalid_argument – when either
root
ortip
cannot be found in the URDF
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std::array<double, 7> gravity(const std::array<double, 7> &q, const std::array<double, 3> &gravity_earth) const
Calculates the gravity vector. Unit:
.- Parameters:
q – [in] Joint position.
m_total – [in] Weight of the attached total load including end effector. Unit:
.F_x_Ctotal – [in] Translation from flange to center of mass of the attached total load. Unit:
.gravity_earth – [in] Earth’s gravity vector. Unit:
.
- Returns:
Gravity vector.
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ModelKDL(const urdf::Model &model, const std::string &root, const std::string &tip)