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	SyncURDF (const std::string &template_urdf_path)
	[Blocking] Sync the actual kinematic parameters of the connected robot into the template URDF. 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.

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

Exceptions

std::out_of_range if the specified link_name does not exist.

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.

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

Exceptions

std::out_of_range if the specified link_name does not exist.

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.

◆ 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.

◆ SyncURDF()

void flexiv::rdk::Model::SyncURDF ( const std::string & template_urdf_path )

[Blocking] Sync the actual kinematic parameters of the connected robot into the template URDF.

Parameters

[in] template_urdf_path Path to the template URDF in [flexiv_rdk/resources] directory. This template URDF will be updated when the sync is finished.

Exceptions

std::invalid_argument	if failed to load the template URDF.
std::runtime_error	if failed to sync the URDF.

Note: This function blocks until the URDF syncing is finished.

Why is this function needed?: The URDFs in [flexiv_rdk/resources] directory contain kinematic parameters of the latest robot hardware version, which might be different from older versions. This function is therefore provided to sync the actual kinematic parameters of the connected robot into the template URDF.

◆ 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.

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

include/flexiv/rdk/model.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Model()

Member Function Documentation

◆ C()

◆ c()

◆ dJ()

◆ g()

◆ J()

◆ M()

◆ reachable()

◆ Reload()

◆ SyncURDF()

◆ Update()