model.h

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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <array>
#include <memory>
 
#include <franka/robot.h>
#include <franka/robot_model_base.h>
#include <franka/robot_state.h>
 
namespace franka {
 
enum class Frame {
  kJoint1,
  kJoint2,
  kJoint3,
  kJoint4,
  kJoint5,
  kJoint6,
  kJoint7,
  kFlange,
  kEndEffector,
  kStiffness
};
 
Frame operator++(Frame& frame, int /* dummy */) noexcept;
 
class Model {
 public:
  explicit Model(const std::string& urdf_model);
 
  explicit Model(std::unique_ptr<RobotModelBase> robot_model);
 
  Model(Model&& model) noexcept;
 
  Model& operator=(Model&& model) noexcept;
 
  ~Model() noexcept;
 
  std::array<double, 16> pose(Frame frame, const franka::RobotState& robot_state) const;
 
  std::array<double, 16> pose(
      Frame frame,
      const std::array<double, 7>& q,        // NOLINT(readability-identifier-length)
      const std::array<double, 16>& F_T_EE,  // NOLINT(readability-identifier-naming)
      const std::array<double, 16>& EE_T_K)  // NOLINT(readability-identifier-naming)
      const;
 
  std::array<double, 42> bodyJacobian(Frame frame, const franka::RobotState& robot_state) const;
 
  std::array<double, 42> bodyJacobian(
      Frame frame,
      const std::array<double, 7>& q,        // NOLINT(readability-identifier-length)
      const std::array<double, 16>& F_T_EE,  // NOLINT(readability-identifier-naming)
      const std::array<double, 16>& EE_T_K)  // NOLINT(readability-identifier-naming)
      const;
 
  std::array<double, 42> zeroJacobian(Frame frame, const franka::RobotState& robot_state) const;
 
  std::array<double, 42> zeroJacobian(
      Frame frame,
      const std::array<double, 7>& q,        // NOLINT(readability-identifier-length)
      const std::array<double, 16>& F_T_EE,  // NOLINT(readability-identifier-naming)
      const std::array<double, 16>& EE_T_K)  // NOLINT(readability-identifier-naming)
      const;
 
  std::array<double, 49> mass(const franka::RobotState& robot_state) const noexcept;
 
  std::array<double, 49> mass(
      const std::array<double, 7>& q,        // NOLINT(readability-identifier-length)
      const std::array<double, 9>& I_total,  // NOLINT(readability-identifier-naming)
      double m_total,
      const std::array<double, 3>& F_x_Ctotal)  // NOLINT(readability-identifier-naming)
      const noexcept;
 
  std::array<double, 7> coriolis(const franka::RobotState& robot_state) const noexcept;
 
  [[deprecated(
      "Use coriolis(q, dq, i_total, m_total, f_x_ctotal, g_earth) instead")]] std::array<double, 7>
  coriolis(const std::array<double, 7>& q,        // NOLINT(readability-identifier-length)
           const std::array<double, 7>& dq,       // NOLINT(readability-identifier-length)
           const std::array<double, 9>& I_total,  // NOLINT(readability-identifier-naming)
           double m_total,
           const std::array<double, 3>& F_x_Ctotal)  // NOLINT(readability-identifier-naming)
      const noexcept;
 
  std::array<double, 7> coriolis(
      const std::array<double, 7>& q,        // NOLINT(readability-identifier-length)
      const std::array<double, 7>& dq,       // NOLINT(readability-identifier-length)
      const std::array<double, 9>& I_total,  // NOLINT(readability-identifier-naming)
      double m_total,
      const std::array<double, 3>& F_x_Ctotal,  // NOLINT(readability-identifier-naming)
      const std::array<double, 3>& gravity_earth) const noexcept;
 
  std::array<double, 7> gravity(
      const std::array<double, 7>& q,  // NOLINT(readability-identifier-length)
      double m_total,
      const std::array<double, 3>& F_x_Ctotal,  // NOLINT(readability-identifier-naming)
      const std::array<double, 3>& gravity_earth = {{0., 0., -9.81}}) const noexcept;
 
  std::array<double, 7> gravity(const franka::RobotState& robot_state,
                                const std::array<double, 3>& gravity_earth) const noexcept;
 
  std::array<double, 7> gravity(const franka::RobotState& robot_state) const noexcept;
 
  Model(const Model&) = delete;
  Model& operator=(const Model&) = delete;
 
 private:
  std::unique_ptr<RobotModelBase> robot_model_;
};
 
}  // namespace franka