Robot model with integrated dynamics engine. More...

#include <Model.hpp>

Public Member Functions
	Model (const Robot &robot)
	[Non-blocking] Create a flexiv::Model instance and initialize the integrated dynamics engine. More...

void	reload (void)
	[Blocking] Reload robot model using the latest data synced from the connected robot. Tool model is also synced. More...

void	update (const std::vector< double > &positions, const std::vector< double > &velocities)
	[Non-blocking] Update robot model using new joint states data. More...

const Eigen::MatrixXd	getJacobian (const std::string &linkName)
	[Non-blocking] Compute and get the Jacobian matrix at the frame of the specified link \( i \), expressed in the base frame. More...

const Eigen::MatrixXd	getJacobianDot (const std::string &linkName)
	[Non-blocking] Compute and get the time derivative of Jacobian matrix at the frame of the specified link \( i \), expressed in the base frame. More...

const Eigen::MatrixXd	getMassMatrix ()
	[Non-blocking] Compute and get the mass matrix for the generalized coordinates, i.e. joint space. More...

const Eigen::MatrixXd	getCoriolisMatrix ()
	[Non-blocking] Compute and get the Coriolis/centripetal matrix for the generalized coordinates, i.e. joint space. More...

const Eigen::VectorXd	getGravityForce ()
	[Non-blocking] Compute and get the gravity force vector for the generalized coordinates, i.e. joint space. More...

const Eigen::VectorXd	getCoriolisForce ()
	[Non-blocking] Compute and get the Coriolis force vector for the generalized coordinates, i.e. joint space. More...

Detailed Description

Robot model with integrated dynamics engine.

Examples: intermediate6_robot_dynamics.cpp.

Definition at line 21 of file Model.hpp.

Constructor & Destructor Documentation

◆ Model()

flexiv::Model::Model ( const Robot & robot )

[Non-blocking] Create a flexiv::Model instance and initialize the integrated dynamics engine.

Parameters

[in] robot Reference to the instance of flexiv::Robot.

Exceptions

InitException if the instance failed to initialize.

Note: The robot mounting position set in Flexiv Elements is automatically synced over so that this dynamics engine produces the correct result.

Member Function Documentation

◆ getCoriolisForce()

const Eigen::VectorXd flexiv::Model::getCoriolisForce ( )

[Non-blocking] Compute and get the Coriolis force vector for the generalized coordinates, i.e. joint space.

Returns: Coriolis force vector: \( c(q,\dot{q}) \in \mathbb{R}^{DOF \times 1} \). Unit: \( [Nm] \).

Note: Call update() before this method.

◆ getCoriolisMatrix()

const Eigen::MatrixXd flexiv::Model::getCoriolisMatrix ( )

[Non-blocking] Compute and get the Coriolis/centripetal matrix for the generalized coordinates, i.e. joint space.

Returns: Coriolis/centripetal matrix: \( C(q,\dot{q}) \in \mathbb{R}^{DOF \times DOF} \).

Note: Call update() before this method.

◆ getGravityForce()

const Eigen::VectorXd flexiv::Model::getGravityForce ( )

[Non-blocking] Compute and get the gravity force vector for the generalized coordinates, i.e. joint space.

Returns: Gravity force vector: \( g(q) \in \mathbb{R}^{DOF \times 1} \). Unit: \( [Nm] \).

Note: Call update() before this method.

Examples: intermediate6_robot_dynamics.cpp.

◆ getJacobian()

const Eigen::MatrixXd flexiv::Model::getJacobian ( const std::string & linkName )

[Non-blocking] Compute and get the Jacobian matrix at the frame of the specified link \( i \), expressed in the base frame.

Parameters

[in] linkName Name of the link to get Jacobian for.

Returns: Jacobian matrix: \( ^{0}J_i \in \mathbb{R}^{6 \times DOF} \).

Note: Call update() before this method.; Available links can be found in the provided URDF. They are {"base_link", "link1", "link2", "link3", "link4", "link5", "link6", "link7", "flange"}, plus "tool" if any flange tool is mounted.

Exceptions

InputException if the specified linkName does not exist.

Examples: intermediate6_robot_dynamics.cpp.

◆ getJacobianDot()

const Eigen::MatrixXd flexiv::Model::getJacobianDot ( const std::string & linkName )

[Non-blocking] Compute and get the time derivative of Jacobian matrix at the frame of the specified link \( i \), expressed in the base frame.

Parameters

[in] linkName Name of the link to get Jacobian derivative for.

Returns: Time derivative of Jacobian matrix: \( ^{0}\dot{J_i} \in \mathbb{R}^{6 \times DOF} \).

Note: Call update() before this method.; Available links can be found in the provided URDF. They are {"base_link", "link1", "link2", "link3", "link4", "link5", "link6", "link7", "flange"}, plus "tool" if any flange tool is mounted.

Exceptions

InputException if the specified linkName does not exist.

◆ getMassMatrix()

const Eigen::MatrixXd flexiv::Model::getMassMatrix ( )

[Non-blocking] Compute and get the mass matrix for the generalized coordinates, i.e. joint space.

Returns: Symmetric positive definite mass matrix: \( M(q) \in \mathbb{S}^{DOF \times DOF}_{++} \). Unit: \( [kgm^2] \).

Note: Call update() before this method.

Examples: intermediate6_robot_dynamics.cpp.

◆ reload()

void flexiv::Model::reload ( void )

[Blocking] Reload robot model using the latest data synced from the connected robot. Tool model is also synced.

Exceptions

CommException	if failed to sync model data.
LogicException	if the synced robot model contains invalid data.

Note: Call this function if the robot tool has changed.

Warning: This function blocks until the model data is synced and the reloading is finished.

◆ update()

void flexiv::Model::update	(	const std::vector< double > &	positions,
		const std::vector< double > &	velocities
	)

[Non-blocking] Update robot model using new joint states data.

Parameters

[in]	positions	Current joint positions: \( q \in \mathbb{R}^{DOF \times 1} \). Unit: \( [rad] \).
[in]	velocities	Current joint velocities: \( \dot{q} \in \mathbb{R}^{DOF \times 1} \). Unit: \( [rad/s] \).

Exceptions

InputException if the input vector is of wrong size.

Examples: intermediate6_robot_dynamics.cpp.

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

include/flexiv/Model.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Model()

Member Function Documentation

◆ getCoriolisForce()

◆ getCoriolisMatrix()

◆ getGravityForce()

◆ getJacobian()

◆ getJacobianDot()

◆ getMassMatrix()

◆ reload()

◆ update()