model.hpp

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#pragma once
 
#include <franka/model.h>
 
#include <franky/robot_state.hpp>
#include "franky/types.hpp"
 
namespace franky {
 
class Model {
 public:
  explicit Model(franka::Model model);
 
  Model(const Model &) = delete;
  Model &operator=(const Model &) = delete;
 
  Model(Model &&other) noexcept;
  Model &operator=(Model &&other) noexcept;
 
  [[nodiscard]] Affine pose(franka::Frame frame, const RobotState &state) const;
 
  [[nodiscard]] Affine pose(franka::Frame frame, const Vector7d &q, const Affine &F_T_EE, const Affine &EE_T_K) const;
 
  [[nodiscard]] Jacobian bodyJacobian(franka::Frame frame, const RobotState &state) const;
 
  [[nodiscard]] Jacobian bodyJacobian(franka::Frame frame,
                                      const Vector7d &q,
                                      const Affine &F_T_EE,
                                      const Affine &EE_T_K) const;
 
  [[nodiscard]] Jacobian zeroJacobian(franka::Frame frame, const RobotState &state) const;
 
  [[nodiscard]] Jacobian zeroJacobian(franka::Frame frame,
                                      const Vector7d &q,
                                      const Affine &F_T_EE,
                                      const Affine &EE_T_K) const;
 
  [[nodiscard]] Eigen::Matrix<double, 7, 7> mass(const RobotState &state) const;
 
  [[nodiscard]] Eigen::Matrix<double, 7, 7> mass(const Vector7d &q,
                                                 const Eigen::Matrix3d &I_total,
                                                 double m_total,
                                                 const Eigen::Vector3d &F_x_Ctotal) const;
 
  [[nodiscard]] Vector7d coriolis(const RobotState &state) const;
 
  [[nodiscard]] Vector7d coriolis(const Vector7d &q,
                                  const Vector7d &dq,
                                  const Eigen::Matrix3d &I_total,
                                  double m_total,
                                  const Eigen::Vector3d &F_x_Ctotal) const;
 
  [[nodiscard]] Vector7d gravity(const RobotState &state, const Eigen::Vector3d &gravity_earth) const;
 
  [[nodiscard]] Vector7d gravity(const RobotState &state) const;
 
  [[nodiscard]] Vector7d gravity(const Vector7d &q,
                                 double m_total,
                                 const Eigen::Vector3d &F_x_Ctotal,
                                 const Eigen::Vector3d &gravity_earth = {0., 0., -9.81}) const;
 
 private:
  franka::Model model_;
};
 
}  // namespace franky