franky::Model Class Reference

A wrapper around franka::Model that uses Eigen types. More...

#include <model.hpp>

Public Member Functions
	Model (franka::Model model)
	Model (const Model &)=delete
Model &	operator= (const Model &)=delete
	Model (Model &&other) noexcept
Model &	operator= (Model &&other) noexcept
Affine	pose (franka::Frame frame, const RobotState &state) const
	Calculates the pose of a frame relative to the base frame.
Affine	pose (franka::Frame frame, const Vector7d &q, const Affine &F_T_EE, const Affine &EE_T_K) const
	Calculates the pose of a frame relative to the base frame.
Jacobian	bodyJacobian (franka::Frame frame, const RobotState &state) const
	Calculates the body Jacobian in base frame.
Jacobian	bodyJacobian (franka::Frame frame, const Vector7d &q, const Affine &F_T_EE, const Affine &EE_T_K) const
	Calculates the body Jacobian in base frame.
Jacobian	zeroJacobian (franka::Frame frame, const RobotState &state) const
	Calculates the zero Jacobian in base frame.
Jacobian	zeroJacobian (franka::Frame frame, const Vector7d &q, const Affine &F_T_EE, const Affine &EE_T_K) const
	Calculates the zero Jacobian in base frame.
Eigen::Matrix< double, 7, 7 >	mass (const RobotState &state) const
	Calculates the mass matrix.
Eigen::Matrix< double, 7, 7 >	mass (const Vector7d &q, const Eigen::Matrix3d &I_total, double m_total, const Eigen::Vector3d &F_x_Ctotal) const
	Calculates the mass matrix.
Vector7d	coriolis (const RobotState &state) const
	Calculates the Coriolis force vector.
Vector7d	coriolis (const Vector7d &q, const Vector7d &dq, const Eigen::Matrix3d &I_total, double m_total, const Eigen::Vector3d &F_x_Ctotal) const
	Calculates the Coriolis force vector.
Vector7d	gravity (const RobotState &state, const Eigen::Vector3d &gravity_earth) const
	Calculates the gravity vector.
Vector7d	gravity (const RobotState &state) const
	Calculates the gravity vector using default gravity direction (0, 0, -9.81).
Vector7d	gravity (const Vector7d &q, double m_total, const Eigen::Vector3d &F_x_Ctotal, const Eigen::Vector3d &gravity_earth={0., 0., -9.81}) const
	Calculates the gravity vector.

Detailed Description

A wrapper around franka::Model that uses Eigen types.

This class exposes the same functionality as franka::Model, but uses Eigen types for inputs and outputs instead of std::array. All 2D arrays are returned as Eigen matrices.

Constructor & Destructor Documentation

Model() [1/3]

franky::Model::Model ( franka::Model  model )

explicit

Parameters

model

The underlying franka::Model instance to wrap.

Model() [2/3]

franky::Model::Model ( const Model &  )

delete

Model() [3/3]

franky::Model::Model ( Model &&  other )

noexcept

Member Function Documentation

bodyJacobian() [1/2]

Jacobian franky::Model::bodyJacobian	(	franka::Frame	frame,
		const RobotState &	state
	)		const

Calculates the body Jacobian in base frame.

Parameters

frame	The frame for which the Jacobian is computed.
state	The current robot state.

Returns

The 6x7 body Jacobian matrix.

bodyJacobian() [2/2]

Jacobian franky::Model::bodyJacobian	(	franka::Frame	frame,
		const Vector7d &	q,
		const Affine &	F_T_EE,
		const Affine &	EE_T_K
	)		const

Calculates the body Jacobian in base frame.

Parameters

frame	The frame for which the Jacobian is computed.
q	Robot joint angles [rad].
F_T_EE	Transformation from flange to end-effector frame.
EE_T_K	Transformation from end-effector frame to stiffness frame.

Returns

The 6x7 body Jacobian matrix.

coriolis() [1/2]

Vector7d franky::Model::coriolis

(

const RobotState &

state

)

const

Calculates the Coriolis force vector.

Parameters

state

The current robot state.

Returns

The Coriolis vector [Nm].

coriolis() [2/2]

Vector7d franky::Model::coriolis	(	const Vector7d &	q,
		const Vector7d &	dq,
		const Eigen::Matrix3d &	I_total,
		double	m_total,
		const Eigen::Vector3d &	F_x_Ctotal
	)		const

Calculates the Coriolis force vector.

Parameters

q	Robot joint angles [rad].
dq	Robot joint velocities [rad/s].
I_total	Combined load and robot inertia [kg·m²].
m_total	Combined mass of robot and load [kg].
F_x_Ctotal	Center of mass relative to flange frame [m].

Returns

The Coriolis vector [Nm].

gravity() [1/3]

Vector7d franky::Model::gravity

(

const RobotState &

state

)

const

Calculates the gravity vector using default gravity direction (0, 0, -9.81).

Parameters

state

The current robot state.

Returns

The gravity vector [Nm].

gravity() [2/3]

Vector7d franky::Model::gravity	(	const RobotState &	state,
		const Eigen::Vector3d &	gravity_earth
	)		const

Calculates the gravity vector.

Parameters

state	The current robot state.
gravity_earth	Gravity vector in base frame [m/s²].

Returns

The gravity vector [Nm].

gravity() [3/3]

Vector7d franky::Model::gravity	(	const Vector7d &	q,
		double	m_total,
		const Eigen::Vector3d &	F_x_Ctotal,
		const Eigen::Vector3d &	gravity_earth = {0., 0., -9.81}
	)		const

Calculates the gravity vector.

Parameters

q	Robot joint angles [rad].
m_total	Combined mass of robot and load [kg].
F_x_Ctotal	Center of mass relative to flange frame [m].
gravity_earth	Gravity vector in base frame [m/s²], default is (0, 0, -9.81).

Returns

The gravity vector [Nm].

mass() [1/2]

Eigen::Matrix< double, 7, 7 > franky::Model::mass

(

const RobotState &

state

)

const

Calculates the mass matrix.

Parameters

state

The current robot state.

Returns

The 7x7 mass matrix.

mass() [2/2]

Eigen::Matrix< double, 7, 7 > franky::Model::mass	(	const Vector7d &	q,
		const Eigen::Matrix3d &	I_total,
		double	m_total,
		const Eigen::Vector3d &	F_x_Ctotal
	)		const

Calculates the mass matrix.

Parameters

q	Robot joint angles [rad].
I_total	Combined load and robot inertia [kg·m²].
m_total	Combined mass of robot and load [kg].
F_x_Ctotal	Center of mass relative to flange frame [m].

Returns

The 7x7 mass matrix.

operator=() [1/2]

Model & franky::Model::operator= ( const Model &  )

delete

operator=() [2/2]

Model & franky::Model::operator= ( Model &&  other )

noexcept

pose() [1/2]

Affine franky::Model::pose	(	franka::Frame	frame,
		const RobotState &	state
	)		const

Calculates the pose of a frame relative to the base frame.

Parameters

frame	The frame whose pose should be returned.
state	The current robot state.

Returns

The pose as an affine transformation matrix.

pose() [2/2]

Affine franky::Model::pose	(	franka::Frame	frame,
		const Vector7d &	q,
		const Affine &	F_T_EE,
		const Affine &	EE_T_K
	)		const

Calculates the pose of a frame relative to the base frame.

Parameters

frame	The frame whose pose should be returned.
q	Robot joint angles [rad].
F_T_EE	Transformation from flange to end-effector frame.
EE_T_K	Transformation from end-effector frame to stiffness frame.

Returns

The pose as an affine transformation matrix.

zeroJacobian() [1/2]

Jacobian franky::Model::zeroJacobian	(	franka::Frame	frame,
		const RobotState &	state
	)		const

Calculates the zero Jacobian in base frame.

Parameters

frame	The frame for which the Jacobian is computed.
state	The current robot state.

Returns

The 6x7 zero Jacobian matrix.

zeroJacobian() [2/2]

Jacobian franky::Model::zeroJacobian	(	franka::Frame	frame,
		const Vector7d &	q,
		const Affine &	F_T_EE,
		const Affine &	EE_T_K
	)		const

Calculates the zero Jacobian in base frame.

Parameters

frame	The frame for which the Jacobian is computed.
q	Robot joint angles [rad].
F_T_EE	Transformation from flange to end-effector frame.
EE_T_K	Transformation from end-effector frame to stiffness frame.

Returns

The 6x7 zero Jacobian matrix.

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

• /home/runner/work/franky/franky/include/franky/model.hpp
• /home/runner/work/franky/franky/src/model.cpp