robot_model_base.h

// Copyright (c) 2024 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <array>
 
class RobotModelBase {
 public:
  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;
 
  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,
                        const std::array<double, 3>& g_earth,
                        std::array<double, 7>& c_ne) = 0;
 
  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;
 
  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;
};