franka::MobileModel Class Reference

Calculates poses for mobile robot frames using Pinocchio. More...

#include <mobile_model.h>

Public Member Functions
	MobileModel (const std::string &urdf_model)
	Constructs a MobileModel from a URDF string.
	MobileModel (MobileModel &&other) noexcept
	Move-constructs a new MobileModel instance.
MobileModel &	operator= (MobileModel &&other) noexcept
	Move-assigns this MobileModel from another MobileModel instance.
	~MobileModel () noexcept
	Destructor.
std::array< double, 16 >	pose (MobileFrame frame, const MobileJointPositions &joint_positions) const
	Gets the 4x4 pose matrix for the given mobile frame relative to the robot's base frame (URDF root link, body-fixed).

Static Public Attributes
static constexpr size_t	kNumModules = kNumDriveModules
	Number of swerve drive modules.
static constexpr size_t	kJointsPerModule = kJointsPerDriveModule
	Number of joints per drive module (steering + drive).

Detailed Description

Calculates poses for mobile robot frames using Pinocchio.

This class provides forward kinematics for mobile robots. It is constructed from a mobile robot URDF and will reject arm robot URDFs.

Note

The pose() method is RT-safe (zero heap allocation). Passive joints (casters, rocker arm) are held at their neutral configuration internally.

Constructor & Destructor Documentation

MobileModel() [1/2]

franka::MobileModel::MobileModel ( const std::string &  urdf_model )

explicit

Constructs a MobileModel from a URDF string.

Parameters

[in]

urdf_model

The URDF model string describing a mobile robot.

Exceptions

ModelException

if the URDF describes an arm robot rather than a mobile robot.

MobileModel() [2/2]

franka::MobileModel::MobileModel ( MobileModel &&  other )

noexcept

Move-constructs a new MobileModel instance.

Parameters

[in]

other

Other MobileModel instance.

Member Function Documentation

operator=()

MobileModel & franka::MobileModel::operator= ( MobileModel &&  other )

noexcept

Move-assigns this MobileModel from another MobileModel instance.

Parameters

[in]

other

Other MobileModel instance.

Returns

MobileModel instance.

pose()

std::array< double, 16 > franka::MobileModel::pose	(	MobileFrame	frame,
		const MobileJointPositions &	joint_positions
	)		const

Gets the 4x4 pose matrix for the given mobile frame relative to the robot's base frame (URDF root link, body-fixed).

The pose is represented as a 4x4 matrix in column-major format. This method is RT-safe: it performs zero heap allocation.

Parameters

[in]	frame	The desired drive module frame (kFrontDriveModule or kRearDriveModule).
[in]	joint_positions	Joint positions for all controllable subsystems. Angles are in radians; the conversion to the internal Pinocchio representation is handled automatically.

Returns

Vectorized 4x4 pose matrix, column-major.

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

• include/franka/mobile_model.h