Class RobotModelBase

Inheritance Relationships

Derived Type

Class Documentation

class RobotModelBase

Robot dynamic parameters computed from the URDF model with Pinocchio.

Subclassed by franka::RobotModel

Public Functions

virtual ~RobotModelBase() = default
virtual void 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, std::array<double, 7> &c_ne) = 0

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

Parameters:

  • q – [in] Joint position.

  • dq – [in] Joint velocity.

  • i_total – [in] Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).

  • m_total – [in] Weight of the attached total load including end effector. Unit: \([kg]\).

  • f_x_ctotal – [in] Translation from flange to center of mass of the attached total load. Unit: \([m]\).

  • c_ne – [out] Coriolis force vector. Unit: \([Nm]\).

virtual void gravity(const std::array<double, 7> &q, const std::array<double, 3> &g_earth, double m_total, const std::array<double, 3> &f_x_ctotal, std::array<double, 7> &g_ne) = 0

Calculates the gravity vector. Unit: \([Nm]\).

Parameters:

  • q – [in] Joint position.

  • gravity_earth – [in] Earth’s gravity vector. Unit: \(\frac{m}{s^2}\).

  • m_total – [in] Weight of the attached total load including end effector. Unit: \([kg]\).

  • f_x_Ctotal – [in] Translation from flange to center of mass of the attached total load.

  • g_ne – [out] Gravity vector. Unit: \([Nm]\).

virtual void 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, std::array<double, 49> &m_ne) = 0

Calculates the 7x7 mass matrix. Unit: \([kg \times m^2]\).

Parameters:

  • q – [in] Joint position.

  • i_total – [in] Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).

  • m_total – [in] Weight of the attached total load including end effector. Unit: \([kg]\).

  • f_x_ctotal – [in] Translation from flange to center of mass of the attached total load. Unit: \([m]\).

  • m_ne – [out] Vectorized 7x7 mass matrix, column-major.