flexiv::rdk::Model Class Reference

Interface to access certain robot kinematics and dynamics data. More...

#include <model.hpp>

Public Member Functions
	Model (const Robot &robot, const Eigen::Vector3d &gravity_vector=Eigen::Vector3d(0.0, 0.0, -9.81))
	[Non-blocking] Create an instance and initialize the integrated dynamics engine. More...
void	Reload ()
	[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	J (const std::string &link_name)
	[Non-blocking] Compute and get the Jacobian matrix at the frame of the specified link \( i \), expressed in world frame. More...
const Eigen::MatrixXd	dJ (const std::string &link_name)
	[Non-blocking] Compute and get the time derivative of Jacobian matrix at the frame of the specified link \( i \), expressed in world frame. More...
const Eigen::MatrixXd	M ()
	[Non-blocking] Compute and get the mass matrix for the generalized coordinates, i.e. joint space. More...
const Eigen::MatrixXd	C ()
	[Non-blocking] Compute and get the Coriolis/centripetal matrix for the generalized coordinates, i.e. joint space. More...
const Eigen::VectorXd	g ()
	[Non-blocking] Compute and get the gravity force vector for the generalized coordinates, i.e. joint space. More...
const Eigen::VectorXd	c ()
	[Non-blocking] Compute and get the Coriolis force vector for the generalized coordinates, i.e. joint space. More...
const std::pair< bool, std::vector< double > >	reachable (const std::array< double, kPoseSize > &pose, const std::vector< double > &seed_positions, bool free_orientation)
	[Blocking] Check if a Cartesian pose is reachable. If yes, also return an IK solution of the corresponding joint positions. More...

Detailed Description

Interface to access certain robot kinematics and dynamics data.

Examples

intermediate7_robot_dynamics.cpp.

Definition at line 20 of file model.hpp.

Constructor & Destructor Documentation

Model()

flexiv::rdk::Model::Model	(	const Robot &	robot,
		const Eigen::Vector3d &	gravity_vector = Eigen::Vector3d(0.0, 0.0, -9.81)
	)

[Non-blocking] Create an instance and initialize the integrated dynamics engine.

Parameters

[in]	robot	Reference to the instance of flexiv::rdk::Robot.
[in]	gravity_vector	Earth's gravity vector in world frame. Default to \( [0.0, 0.0, -9.81]^T \). Unit: \( [m/s^2] \).

Exceptions

std::runtime_error	if the initialization sequence failed.
std::logic_error	if the connected robot does not have an RDK professional license; or the parsed robot model is not supported.

Member Function Documentation

C()

const Eigen::MatrixXd flexiv::rdk::Model::C

(

)

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

Returns

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

Note

Call Update() before this function.

c()

const Eigen::VectorXd flexiv::rdk::Model::c

(

)

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

Returns

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

Note

Call Update() before this function.

dJ()

const Eigen::MatrixXd flexiv::rdk::Model::dJ

(

const std::string &

link_name

)

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

Parameters

[in]

link_name

Name of the link to get Jacobian derivative for.

Returns

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

Note

Call Update() before this function.

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

std::out_of_range

if the specified link_name does not exist.

g()

const Eigen::VectorXd flexiv::rdk::Model::g

(

)

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

Returns

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

Note

Call Update() before this function.

J()

const Eigen::MatrixXd flexiv::rdk::Model::J

(

const std::string &

link_name

)

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

Parameters

[in]

link_name

Name of the link to get Jacobian for.

Returns

Jacobian matrix: \( ^{0}J_i \in \mathbb{R}^{m \times n} \).

Note

Call Update() before this function.

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

std::out_of_range

if the specified link_name does not exist.

M()

const Eigen::MatrixXd flexiv::rdk::Model::M

(

)

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

Returns

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

Note

Call Update() before this function.

reachable()

const std::pair<bool, std::vector<double> > flexiv::rdk::Model::reachable	(	const std::array< double, kPoseSize > &	pose,
		const std::vector< double > &	seed_positions,
		bool	free_orientation
	)

[Blocking] Check if a Cartesian pose is reachable. If yes, also return an IK solution of the corresponding joint positions.

Parameters

[in]	pose	Cartesian pose to be checked.
[in]	seed_positions	Joint positions to be used as the seed for solving IK.
[in]	free_orientation	Only constrain position and allow orientation to move freely.

Returns

A pair of <is_reachable, ik_solution>.

Exceptions

std::invalid_argument	if size of [seed_positions] does not match robot DoF.
std::runtime_error	if failed to get a reply from the connected robot.

Note

Applicable control modes: All.

This function blocks until a reply is received.

Reload()

void flexiv::rdk::Model::Reload

(

)

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

Exceptions

std::runtime_error	if failed to sync model data.
std::logic_error	if the synced robot model contains invalid data.

Note

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

Call this function if the robot tool has changed.

Update()

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

Exceptions

std::invalid_argument

if size of any input vector does not match robot DoF.

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

• include/flexiv/rdk/model.hpp