mobile_model.h

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// Copyright (c) 2026 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <array>
#include <cstdint>
#include <memory>
#include <string>
 
namespace franka {
 
enum class MobileFrame : std::uint8_t {
  kFrontDriveModule,  
  kRearDriveModule    
};
 
inline constexpr size_t kNumDriveModules = 2;
 
inline constexpr size_t kJointsPerDriveModule = 2;
 
struct MobileJointPositions {
  std::array<double, kNumDriveModules * kJointsPerDriveModule> drive_modules{};
};
 
class MobileModel final {
 public:
  static constexpr size_t kNumModules = kNumDriveModules;
 
  static constexpr size_t kJointsPerModule = kJointsPerDriveModule;
 
  explicit MobileModel(const std::string& urdf_model);
 
  MobileModel(MobileModel&& other) noexcept;
 
  MobileModel& operator=(MobileModel&& other) noexcept;
 
  ~MobileModel() noexcept;
 
  MobileModel(const MobileModel&) = delete;
  MobileModel& operator=(const MobileModel&) = delete;
 
  std::array<double, 16> pose(MobileFrame frame, const MobileJointPositions& joint_positions) const;
 
 private:
  class Data;
  std::unique_ptr<Data> data_;
};
 
}  // namespace franka