Calculates poses of joints and dynamic properties of the robot. More...

#include <model.h>

Public Member Functions
	Model (franka::Network &network, const std::string &urdf_model)
	Creates a new Model instance.

	Model (franka::Network &network, std::unique_ptr< RobotModelBase > robot_model)
	Creates a new Model instance only for the tests.

	Model (Model &&model) noexcept
	Move-constructs a new Model instance.

Model &	operator= (Model &&model) noexcept
	Move-assigns this Model from another Model instance.

	~Model () noexcept
	Unloads the model library.

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

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

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

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

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

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

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

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
	Calculates the 7x7 mass matrix.

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

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

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 std::array< double, 3 > &gravity_earth) const noexcept
	Calculates the Coriolis force vector with gravity (faster implementation).

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={{0., 0., -9.81}}) const noexcept
	Calculates the gravity vector.

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

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

Detailed Description

Calculates poses of joints and dynamic properties of the robot.

Examples: cartesian_impedance_control.cpp, force_control.cpp, joint_impedance_control.cpp, and print_joint_poses.cpp.

Constructor & Destructor Documentation

◆ Model() [1/3]

franka::Model::Model	(	franka::Network &	network,
		const std::string &	urdf_model
	)

explicit

Creates a new Model instance.

This constructor is for internal use only.

See also: Robot::loadModel

Parameters

[in] network For internal use.

Exceptions

ModelException if the model library cannot be loaded.

◆ Model() [2/3]

franka::Model::Model	(	franka::Network &	network,
		std::unique_ptr< RobotModelBase >	robot_model
	)

explicit

Creates a new Model instance only for the tests.

This constructor is for the unittests for enabling mocks.

Parameters

[in]	network	For internal use.
[in]	robot_model	unique pointer to the mocked robot_model

◆ Model() [3/3]

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

noexcept

Move-constructs a new Model instance.

Parameters

[in] model Other Model instance.

Member Function Documentation

◆ bodyJacobian() [1/2]

std::array< double, 42 > franka::Model::bodyJacobian	(	Frame	frame,
		const franka::RobotState &	robot_state
	)		const

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]	robot_state	State from which the pose should be calculated.

Returns: Vectorized 6x7 Jacobian, column-major.

◆ bodyJacobian() [2/2]

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

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.

◆ coriolis() [1/3]

std::array< double, 7 > franka::Model::coriolis ( const franka::RobotState & robot_state ) const

noexcept

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

Parameters

[in] robot_state State from which the Coriolis force vector should be calculated.

Returns: Coriolis force vector.

Examples: cartesian_impedance_control.cpp.

◆ coriolis() [2/3]

std::array< double, 7 > franka::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

noexcept

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

Deprecated:: This overload is deprecated. Use coriolis(q, dq, i_total, m_total, f_x_ctotal, g_earth) for better performance.

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

Returns: Coriolis force vector.

◆ coriolis() [3/3]

std::array< double, 7 > franka::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 std::array< double, 3 > &	gravity_earth
	)		const

noexcept

Calculates the Coriolis force vector with gravity (faster implementation).

Unit: \([Nm]\).

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: \([kg]\).
[in]	F_x_Ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[in]	gravity_earth	Earth's gravity vector. Unit: \(\frac{m}{s^2}\).

Returns: Coriolis force vector.

◆ gravity() [1/3]

std::array< double, 7 > franka::Model::gravity ( const franka::RobotState & robot_state ) const

noexcept

Calculates the gravity vector using the robot state.

Unit: \([Nm]\).

Parameters

[in] robot_state State from which the gravity vector should be calculated.

Returns: Gravity vector.

◆ gravity() [2/3]

std::array< double, 7 > franka::Model::gravity	(	const franka::RobotState &	robot_state,
		const std::array< double, 3 > &	gravity_earth
	)		const

noexcept

Calculates the gravity vector.

Unit: \([Nm]\).

Parameters

[in]	robot_state	State from which the gravity vector should be calculated.
[in]	gravity_earth	Earth's gravity vector. Unit: \(\frac{m}{s^2}\).

Returns: Gravity vector.

◆ gravity() [3/3]

std::array< double, 7 > franka::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 = `{{0., 0., -9.81}}`
	)		const

noexcept

Calculates the gravity vector.

Unit: \([Nm]\).

Parameters

[in]	q	Joint position.
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	F_x_Ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[in]	gravity_earth	Earth's gravity vector. Unit: \(\frac{m}{s^2}\). Default to {0.0, 0.0, -9.81}.

Returns: Gravity vector.

Examples: force_control.cpp.

◆ mass() [1/2]

std::array< double, 49 > franka::Model::mass ( const franka::RobotState & robot_state ) const

noexcept

Calculates the 7x7 mass matrix.

Unit: \([kg \times m^2]\).

Parameters

[in] robot_state State from which the mass matrix should be calculated.

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

◆ mass() [2/2]

std::array< double, 49 > franka::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

noexcept

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

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

◆ operator=()

Model & franka::Model::operator= ( Model && model )

noexcept

Move-assigns this Model from another Model instance.

Parameters

[in] model Other Model instance.

Returns: Model instance.

◆ pose() [1/2]

std::array< double, 16 > franka::Model::pose	(	Frame	frame,
		const franka::RobotState &	robot_state
	)		const

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]	robot_state	State from which the pose should be calculated.

Returns: Vectorized 4x4 pose matrix, column-major.

◆ pose() [2/2]

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

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.

◆ zeroJacobian() [1/2]

std::array< double, 42 > franka::Model::zeroJacobian	(	Frame	frame,
		const franka::RobotState &	robot_state
	)		const

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]	robot_state	State from which the pose should be calculated.

Returns: Vectorized 6x7 Jacobian, column-major.

Examples: cartesian_impedance_control.cpp, and force_control.cpp.

◆ zeroJacobian() [2/2]

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

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.

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

include/franka/model.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Model() [1/3]

◆ Model() [2/3]

◆ Model() [3/3]

Member Function Documentation

◆ bodyJacobian() [1/2]

◆ bodyJacobian() [2/2]

◆ coriolis() [1/3]

◆ coriolis() [2/3]

◆ coriolis() [3/3]

◆ gravity() [1/3]

◆ gravity() [2/3]

◆ gravity() [3/3]

◆ mass() [1/2]

◆ mass() [2/2]

◆ operator=()

◆ pose() [1/2]

◆ pose() [2/2]

◆ zeroJacobian() [1/2]

◆ zeroJacobian() [2/2]