robot_model::Model Class Reference

The Model class is a wrapper around pinocchio dynamic computation library with state_representation encapsulations. More...

#include <Model.hpp>

Public Member Functions
	Model (const std::string &robot_name, const std::string &urdf_path)
	Constructor with robot name and path to URDF file.
	Model (const Model &model)
	Copy constructor.
Model &	operator= (const Model &Model)
	Copy assignment operator that have to be defined due to the custom assignment operator.
const std::string &	get_robot_name () const
	Getter of the robot name.
void	set_robot_name (const std::string &robot_name)
	Setter of the robot name.
const std::string &	get_urdf_path () const
	Getter of the URDF path.
unsigned int	get_number_of_joints () const
	Getter of the number of joints.
std::vector< std::string >	get_joint_frames () const
	Getter of the joint frames from the model.
std::vector< std::string >	get_frames () const
	Getter of the frames from the model.
const std::string &	get_base_frame () const
	Getter of the base frame of the robot.
Eigen::Vector3d	get_gravity_vector () const
	Getter of the gravity vector.
void	set_gravity_vector (const Eigen::Vector3d &gravity)
	Setter of the gravity vector.
const pinocchio::Model &	get_pinocchio_model () const
	Getter of the pinocchio model.
state_representation::Jacobian	compute_jacobian (const state_representation::JointPositions &joint_positions, const std::string &frame="")
	Compute the Jacobian from a given joint state at the frame given in parameter.
Eigen::MatrixXd	compute_jacobian_time_derivative (const state_representation::JointPositions &joint_positions, const state_representation::JointVelocities &joint_velocities, const std::string &frame="")
	Compute the time derivative of the Jacobian from given joint positions and velocities at the frame in parameter.
Eigen::MatrixXd	compute_inertia_matrix (const state_representation::JointPositions &joint_positions)
	Compute the Inertia matrix from a given joint positions.
state_representation::JointTorques	compute_inertia_torques (const state_representation::JointState &joint_state)
	Compute the Inertia torques, i.e the inertia matrix multiplied by the joint accelerations. Joint positions are needed as well for computations of the inertia matrix.
Eigen::MatrixXd	compute_coriolis_matrix (const state_representation::JointState &joint_state)
	Compute the Coriolis matrix from a given joint state.
state_representation::JointTorques	compute_coriolis_torques (const state_representation::JointState &joint_state)
	Compute the Coriolis torques, i.e. the Coriolis matrix multiplied by the joint velocities and express the result as a JointTorques.
state_representation::JointTorques	compute_gravity_torques (const state_representation::JointPositions &joint_positions)
	Compute the gravity torques.
std::vector< state_representation::CartesianPose >	forward_kinematics (const state_representation::JointPositions &joint_positions, const std::vector< std::string > &frames)
	Compute the forward kinematics, i.e. the pose of certain frames from the joint positions.
state_representation::CartesianPose	forward_kinematics (const state_representation::JointPositions &joint_positions, const std::string &frame="")
	Compute the forward kinematics, i.e. the pose of the frame from the joint positions.
state_representation::JointPositions	inverse_kinematics (const state_representation::CartesianPose &cartesian_pose, const InverseKinematicsParameters &parameters=InverseKinematicsParameters(), const std::string &frame="")
	Compute the inverse kinematics, i.e. joint positions from the pose of the end-effector in an iterative manner.
state_representation::JointPositions	inverse_kinematics (const state_representation::CartesianPose &cartesian_pose, const state_representation::JointPositions &joint_positions, const InverseKinematicsParameters &parameters=InverseKinematicsParameters(), const std::string &frame="")
	Compute the inverse kinematics, i.e. joint positions from the pose of the end-effector.
std::vector< state_representation::CartesianTwist >	forward_velocity (const state_representation::JointState &joint_state, const std::vector< std::string > &frames)
	Compute the forward velocity kinematics, i.e. the twist of certain frames from the joint states.
state_representation::CartesianTwist	forward_velocity (const state_representation::JointState &joint_state, const std::string &frame="")
	Compute the forward velocity kinematics, i.e. the twist of the end-effector from the joint velocities.
state_representation::JointVelocities	inverse_velocity (const std::vector< state_representation::CartesianTwist > &cartesian_twists, const state_representation::JointPositions &joint_positions, const std::vector< std::string > &frames, const double dls_lambda=0.0)
	Compute the inverse velocity kinematics, i.e. joint velocities from the velocities of the frames in parameter using the Jacobian.
state_representation::JointVelocities	inverse_velocity (const state_representation::CartesianTwist &cartesian_twist, const state_representation::JointPositions &joint_positions, const std::string &frame="", const double dls_lambda=0.0)
	Compute the inverse velocity kinematics, i.e. joint velocities from the twist of the end-effector using the Jacobian.
state_representation::JointVelocities	inverse_velocity (const std::vector< state_representation::CartesianTwist > &cartesian_twists, const state_representation::JointPositions &joint_positions, const QPInverseVelocityParameters &parameters, const std::vector< std::string > &frames)
	Compute the inverse velocity kinematics, i.e. joint velocities from the velocities of the frames in parameter using the QP optimization method.
state_representation::JointVelocities	inverse_velocity (const state_representation::CartesianTwist &cartesian_twist, const state_representation::JointPositions &joint_positions, const QPInverseVelocityParameters &parameters, const std::string &frame="")
	Compute the inverse velocity kinematics, i.e. joint velocities from the twist of the end-effector using the QP optimization method.
void	print_qp_problem ()
	Helper function to print the qp_problem (for debugging)
bool	in_range (const state_representation::JointPositions &joint_positions) const
	Check if the joint positions are inside the limits provided by the model.
bool	in_range (const state_representation::JointVelocities &joint_velocities) const
	Check if the joint velocities are inside the limits provided by the model.
bool	in_range (const state_representation::JointTorques &joint_torques) const
	Check if the joint torques are inside the limits provided by the model.
bool	in_range (const state_representation::JointState &joint_state) const
	Check if the joint state variables (positions, velocities & torques) are inside the limits provided by the model.
state_representation::JointState	clamp_in_range (const state_representation::JointState &joint_state) const
	Clamp the joint state variables (positions, velocities & torques) according to the limits provided by the model.

Static Public Member Functions
static bool	create_urdf_from_string (const std::string &urdf_string, const std::string &desired_path)
	Creates a URDF file with desired path and name from a string (possibly the robot description string from the ROS parameter server)

Friends
void	swap (Model &model1, Model &model2)
	Swap the values of the two Model.

Detailed Description

The Model class is a wrapper around pinocchio dynamic computation library with state_representation encapsulations.

Definition at line 62 of file Model.hpp.

Constructor & Destructor Documentation

Model() [1/2]

robot_model::Model::Model ( const std::string &  robot_name, const std::string &  urdf_path  )

explicit

Constructor with robot name and path to URDF file.

Definition at line 10 of file Model.cpp.

Model() [2/2]

robot_model::Model::Model

(

const Model &

model

)

Copy constructor.

Parameters

model

the model to copy

Definition at line 16 of file Model.cpp.

Member Function Documentation

clamp_in_range()

state_representation::JointState robot_model::Model::clamp_in_range

(

const state_representation::JointState &

joint_state

)

const

Clamp the joint state variables (positions, velocities & torques) according to the limits provided by the model.

Parameters

joint_state

the joint state to be clamped

Returns

the clamped joint states

Definition at line 581 of file Model.cpp.

compute_coriolis_matrix()

Eigen::MatrixXd robot_model::Model::compute_coriolis_matrix

(

const state_representation::JointState &

joint_state

)

Compute the Coriolis matrix from a given joint state.

Parameters

joint_state

containing the joint positions & velocities values of the robot

Returns

the Coriolis matrix

Definition at line 201 of file Model.cpp.

compute_coriolis_torques()

state_representation::JointTorques robot_model::Model::compute_coriolis_torques

(

const state_representation::JointState &

joint_state

)

Compute the Coriolis torques, i.e. the Coriolis matrix multiplied by the joint velocities and express the result as a JointTorques.

Parameters

joint_state

containing the joint positions & velocities values of the robot

Returns

the Coriolis torques as a JointTorques

Definition at line 209 of file Model.cpp.

compute_gravity_torques()

state_representation::JointTorques robot_model::Model::compute_gravity_torques

(

const state_representation::JointPositions &

joint_positions

)

Compute the gravity torques.

Parameters

joint_positions

containing the joint positions of the robot

Returns

the gravity torque as a JointTorques

Definition at line 217 of file Model.cpp.

compute_inertia_matrix()

Eigen::MatrixXd robot_model::Model::compute_inertia_matrix

(

const state_representation::JointPositions &

joint_positions

)

Compute the Inertia matrix from a given joint positions.

Parameters

joint_positions

containing the joint positions values of the robot

Returns

the inertia matrix

Definition at line 185 of file Model.cpp.

compute_inertia_torques()

state_representation::JointTorques robot_model::Model::compute_inertia_torques

(

const state_representation::JointState &

joint_state

)

Compute the Inertia torques, i.e the inertia matrix multiplied by the joint accelerations. Joint positions are needed as well for computations of the inertia matrix.

Parameters

joint_state

containing the joint positions and accelerations values of the robot

Returns

the inertia torques as a JointTorques

Definition at line 194 of file Model.cpp.

compute_jacobian()

state_representation::Jacobian robot_model::Model::compute_jacobian	(	const state_representation::JointPositions &	joint_positions,
		const std::string &	frame = ""
	)

Compute the Jacobian from a given joint state at the frame given in parameter.

Parameters

joint_positions	containing the joint positions of the robot
frame	name of the frame at which to compute the Jacobian, if empty computed for the last frame

Returns

the Jacobian matrix

Definition at line 148 of file Model.cpp.

compute_jacobian_time_derivative()

Eigen::MatrixXd robot_model::Model::compute_jacobian_time_derivative	(	const state_representation::JointPositions &	joint_positions,
		const state_representation::JointVelocities &	joint_velocities,
		const std::string &	frame = ""
	)

Compute the time derivative of the Jacobian from given joint positions and velocities at the frame in parameter.

Parameters

joint_positions	containing the joint positions of the robot
joint_velocities	containing the joint positions of the robot
frame	name of the frame at which to compute the Jacobian, if empty computed for the last frame

Returns

the time derivative of Jacobian matrix

Definition at line 178 of file Model.cpp.

create_urdf_from_string()

bool robot_model::Model::create_urdf_from_string ( const std::string &  urdf_string, const std::string &  desired_path  )

static

Creates a URDF file with desired path and name from a string (possibly the robot description string from the ROS parameter server)

Parameters

urdf_string	string containing the URDF description of the robot
desired_path	desired path and name of the created URDF file as string

Returns

bool if operation was successful

Definition at line 22 of file Model.cpp.

forward_kinematics() [1/2]

state_representation::CartesianPose robot_model::Model::forward_kinematics	(	const state_representation::JointPositions &	joint_positions,
		const std::string &	frame = ""
	)

Compute the forward kinematics, i.e. the pose of the frame from the joint positions.

Parameters

joint_positions	the joint state of the robot
frame	name of the frame at which to extract the pose

Returns

the pose of the desired frame

Definition at line 253 of file Model.cpp.

forward_kinematics() [2/2]

std::vector< state_representation::CartesianPose > robot_model::Model::forward_kinematics	(	const state_representation::JointPositions &	joint_positions,
		const std::vector< std::string > &	frames
	)

Compute the forward kinematics, i.e. the pose of certain frames from the joint positions.

Parameters

joint_positions	the joint state of the robot
frames	names of the frames at which to extract the poses

Returns

the pose of desired frames

Definition at line 259 of file Model.cpp.

forward_velocity() [1/2]

state_representation::CartesianTwist robot_model::Model::forward_velocity	(	const state_representation::JointState &	joint_state,
		const std::string &	frame = ""
	)

Compute the forward velocity kinematics, i.e. the twist of the end-effector from the joint velocities.

Parameters

joint_state	the joint state of the robot with positions to compute the Jacobian and velocities for the twist
frame	name of the frame at which to compute the twist

Returns

the twist of the frame in parameter

Definition at line 372 of file Model.cpp.

forward_velocity() [2/2]

std::vector< state_representation::CartesianTwist > robot_model::Model::forward_velocity	(	const state_representation::JointState &	joint_state,
		const std::vector< std::string > &	frames
	)

Compute the forward velocity kinematics, i.e. the twist of certain frames from the joint states.

Parameters

joint_state	the joint state of the robot with positions to compute the Jacobian and velocities for the twist
frames	name of the frames at which to compute the twist

Returns

the twists of the frames in parameter

Definition at line 362 of file Model.cpp.

get_base_frame()

const std::string & robot_model::Model::get_base_frame ( ) const

inline

Getter of the base frame of the robot.

Returns

the base frame

Definition at line 543 of file Model.hpp.

get_frames()

std::vector< std::string > robot_model::Model::get_frames ( ) const

inline

Getter of the frames from the model.

Returns

the frame names

Definition at line 547 of file Model.hpp.

get_gravity_vector()

Eigen::Vector3d robot_model::Model::get_gravity_vector ( ) const

inline

Getter of the gravity vector.

Returns

Eigen::Vector3d the gravity vector

Definition at line 551 of file Model.hpp.

get_joint_frames()

std::vector< std::string > robot_model::Model::get_joint_frames ( ) const

inline

Getter of the joint frames from the model.

Returns

the joint frames

Definition at line 537 of file Model.hpp.

get_number_of_joints()

unsigned int robot_model::Model::get_number_of_joints ( ) const

inline

Getter of the number of joints.

Returns

the number of joints

Definition at line 533 of file Model.hpp.

get_pinocchio_model()

const pinocchio::Model & robot_model::Model::get_pinocchio_model ( ) const

inline

Getter of the pinocchio model.

Returns

the pinocchio model

Definition at line 559 of file Model.hpp.

get_robot_name()

const std::string & robot_model::Model::get_robot_name ( ) const

inline

Getter of the robot name.

Returns

the robot name

Definition at line 521 of file Model.hpp.

get_urdf_path()

const std::string & robot_model::Model::get_urdf_path ( ) const

inline

Getter of the URDF path.

Returns

the URDF path

Definition at line 529 of file Model.hpp.

in_range() [1/4]

bool robot_model::Model::in_range

(

const state_representation::JointPositions &

joint_positions

)

const

Check if the joint positions are inside the limits provided by the model.

Parameters

joint_positions

the joint positions to check

Returns

true if the positions are inside their limits, false otherwise.

Definition at line 553 of file Model.cpp.

in_range() [2/4]

bool robot_model::Model::in_range

(

const state_representation::JointState &

joint_state

)

const

Check if the joint state variables (positions, velocities & torques) are inside the limits provided by the model.

Parameters

joint_state

the joint state to check

Returns

true if the state variables are inside the limits, false otherwise.

Definition at line 569 of file Model.cpp.

in_range() [3/4]

bool robot_model::Model::in_range

(

const state_representation::JointTorques &

joint_torques

)

const

Check if the joint torques are inside the limits provided by the model.

Parameters

joint_torques

the joint torques to check

Returns

true if the torques are inside their limits, false otherwise.

Definition at line 565 of file Model.cpp.

in_range() [4/4]

bool robot_model::Model::in_range

(

const state_representation::JointVelocities &

joint_velocities

)

const

Check if the joint velocities are inside the limits provided by the model.

Parameters

joint_velocities

the joint velocities to check

Returns

true if the velocities are inside their limits, false otherwise.

Definition at line 559 of file Model.cpp.

inverse_kinematics() [1/2]

state_representation::JointPositions robot_model::Model::inverse_kinematics	(	const state_representation::CartesianPose &	cartesian_pose,
		const InverseKinematicsParameters &	parameters = InverseKinematicsParameters(),
		const std::string &	frame = ""
	)

Compute the inverse kinematics, i.e. joint positions from the pose of the end-effector in an iterative manner.

Parameters

cartesian_pose	containing the desired pose of the end-effector
parameters	parameters of the inverse kinematics algorithm (default is default values of the InverseKinematicsParameters structure)
frame	name of the frame at which to extract the pose

Returns

the joint positions of the robot

Definition at line 353 of file Model.cpp.

inverse_kinematics() [2/2]

state_representation::JointPositions robot_model::Model::inverse_kinematics	(	const state_representation::CartesianPose &	cartesian_pose,
		const state_representation::JointPositions &	joint_positions,
		const InverseKinematicsParameters &	parameters = InverseKinematicsParameters(),
		const std::string &	frame = ""
	)

Compute the inverse kinematics, i.e. joint positions from the pose of the end-effector.

Parameters

cartesian_pose	containing the desired pose of the end-effector
joint_positions	current state of the robot containing the generalized position
parameters	parameters of the inverse kinematics algorithm (default is default values of the InverseKinematicsParameters structure)
frame	name of the frame at which to extract the pose

Returns

the joint positions of the robot

Definition at line 308 of file Model.cpp.

inverse_velocity() [1/4]

state_representation::JointVelocities robot_model::Model::inverse_velocity	(	const state_representation::CartesianTwist &	cartesian_twist,
		const state_representation::JointPositions &	joint_positions,
		const QPInverseVelocityParameters &	parameters,
		const std::string &	frame = ""
	)

Compute the inverse velocity kinematics, i.e. joint velocities from the twist of the end-effector using the QP optimization method.

Parameters

cartesian_twist	containing the twist of the end-effector
joint_positions	current joint positions, used to compute the Jacobian matrix
joint_positions	current joint positions, used to compute the Jacobian matrix
parameters	parameters of the inverse velocity kinematics algorithm (default is default values of the QPInverseVelocityParameters structure)
frame	name of the frame at which to compute the twist

Returns

the joint velocities of the robot

Definition at line 518 of file Model.cpp.

inverse_velocity() [2/4]

state_representation::JointVelocities robot_model::Model::inverse_velocity	(	const state_representation::CartesianTwist &	cartesian_twist,
		const state_representation::JointPositions &	joint_positions,
		const std::string &	frame = "",
		const double	dls_lambda = 0.0
	)

Compute the inverse velocity kinematics, i.e. joint velocities from the twist of the end-effector using the Jacobian.

Parameters

cartesian_twist	containing the twist of the end-effector
joint_positions	current joint positions, used to compute the Jacobian matrix
frame	name of the frame at which to compute the twist
parameters	parameters of the inverse velocity kinematics algorithm (default is default values of the QPInverseVelocityParameters structure)
dls_lambda	damped least square term

Returns

the joint velocities of the robot

Definition at line 437 of file Model.cpp.

inverse_velocity() [3/4]

state_representation::JointVelocities robot_model::Model::inverse_velocity	(	const std::vector< state_representation::CartesianTwist > &	cartesian_twists,
		const state_representation::JointPositions &	joint_positions,
		const QPInverseVelocityParameters &	parameters,
		const std::vector< std::string > &	frames
	)

Compute the inverse velocity kinematics, i.e. joint velocities from the velocities of the frames in parameter using the QP optimization method.

Parameters

cartesian_twists	vector of twist
joint_positions	current joint positions, used to compute the jacobian matrix
parameters	parameters of the inverse velocity kinematics algorithm (default is default values of the QPInverseVelocityParameters structure)
frames	names of the frames at which to compute the twists

Returns

the joint velocities of the robot

Definition at line 449 of file Model.cpp.

inverse_velocity() [4/4]

state_representation::JointVelocities robot_model::Model::inverse_velocity	(	const std::vector< state_representation::CartesianTwist > &	cartesian_twists,
		const state_representation::JointPositions &	joint_positions,
		const std::vector< std::string > &	frames,
		const double	dls_lambda = 0.0
	)

Compute the inverse velocity kinematics, i.e. joint velocities from the velocities of the frames in parameter using the Jacobian.

Parameters

cartesian_twists	vector of twist
joint_positions	current joint positions, used to compute the Jacobian matrix
frames	names of the frames at which to compute the twists
dls_lambda	damped least square term

Returns

the joint velocities of the robot

Definition at line 394 of file Model.cpp.

operator=()

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

inline

Copy assignment operator that have to be defined due to the custom assignment operator.

Parameters

model

the model with value to assign

Returns

reference to the current model with new values

Definition at line 514 of file Model.hpp.

print_qp_problem()

void robot_model::Model::print_qp_problem

(

)

Helper function to print the qp_problem (for debugging)

Definition at line 529 of file Model.cpp.

set_gravity_vector()

void robot_model::Model::set_gravity_vector ( const Eigen::Vector3d &  gravity )

inline

Setter of the gravity vector.

Parameters

gravity

the gravity vector

Definition at line 555 of file Model.hpp.

set_robot_name()

void robot_model::Model::set_robot_name ( const std::string &  robot_name )

inline

Setter of the robot name.

Parameters

robot_name

the new value of the robot name

Definition at line 525 of file Model.hpp.

Friends And Related Symbol Documentation

swap

void swap ( Model &  model1, Model &  model2  )

friend

Swap the values of the two Model.

Parameters

model1	Model to be swapped with 2
model2	Model to be swapped with 1

Definition at line 506 of file Model.hpp.

---

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

• /github/workspace/source/robot_model/include/robot_model/Model.hpp
• /github/workspace/source/robot_model/src/Model.cpp