Struct franka::model::Model

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pub struct Model { /* private fields */ }

Expand description

Calculates poses of joints and dynamic properties of the robot.

Implementations

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impl Model

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pub fn new<S: AsRef<Path>>(
model_filename: S,
libm_filename: Option<&Path>
) -> FrankaResult<Self>

Creates a new Model instance from the shared object of the Model for offline usage.

If you just want to use the model to control the Robot you should use Robot::load_model.

If you do not have the model you can use the download_model example to download the model

Arguments

model_filename - Path to the model.
libm_filename - Path to libm.so.6 . You probably do not need to specify the path as it it should be detected automatically. However if you get panics for unresolved symbols or libm could not be found you have to specify the path. On most Ubuntu systems it is in

/lib/x86_64-linux-gnu/libm.so.6

It maybe has a different name on your machine but it is not the “libm.so”. You can verify that it is the correct libm by checking:

 nm -D /lib/x86_64-linux-gnu/libm.so.6 | grep sincos

Errors

ModelException

libm FAQ

What is libm? - Libm is the Math library of the C Standard Library. It is what you get when you include <math.h> in C

Why do we need it? - Because the model is not self contained and relies on some functions from libm

How does the libfranka embed libm? They are not including <math.h> - Apparently it gets somehow included when using <array> ¯_(ツ)_/¯

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pub fn pose(
    &self,
    frame: &Frame,
    q: &[f64 ; 7],
    F_T_EE: &[f64 ; 16],
    EE_T_K: &[f64 ; 16]
) -> [f64 ; 16]

Gets the 4x4 pose matrix for the given frame in base frame.

The pose is represented as a 4x4 matrix in column-major format.

Arguments

frame - The desired frame.
q - Joint position.
F_T_EE - End effector in flange frame.
EE_T_K - Stiffness frame K in the end effector frame.

Return

Vectorized 4x4 pose matrix, column-major.

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pub fn pose_from_state(
    &self,
    frame: &Frame,
    robot_state: &RobotState
) -> [f64 ; 16]

Gets the 4x4 pose matrix for the given frame in base frame.

The pose is represented as a 4x4 matrix in column-major format.

Arguments

frame - The desired frame.
robot_state - State from which the pose should be calculated.

Return

Vectorized 4x4 pose matrix, column-major.

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pub fn body_jacobian(
    &self,
    frame: &Frame,
    q: &[f64 ; 7],
    F_T_EE: &[f64 ; 16],
    EE_T_K: &[f64 ; 16]
) -> [f64 ; 42]

Gets the 6x7 Jacobian for the given frame, relative to that frame.

The Jacobian is represented as a 6x7 matrix in column-major format.

Arguments

frame - The desired frame.
q - Joint position.
F_T_EE - End effector in flange frame.
EE_T_K - Stiffness frame K in the end effector frame.

Return

Vectorized 6x7 Jacobian, column-major.

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pub fn body_jacobian_from_state(
    &self,
    frame: &Frame,
    robot_state: &RobotState
) -> [f64 ; 42]

Gets the 6x7 Jacobian for the given frame, relative to that frame.

The Jacobian is represented as a 6x7 matrix in column-major format.

Arguments

frame - The desired frame.
robot_state - State from which the pose should be calculated.

Return

Vectorized 6x7 Jacobian, column-major.

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pub fn zero_jacobian(
    &self,
    frame: &Frame,
    q: &[f64 ; 7],
    F_T_EE: &[f64 ; 16],
    EE_T_K: &[f64 ; 16]
) -> [f64 ; 42]

Gets the 6x7 Jacobian for the given joint relative to the base frame.

The Jacobian is represented as a 6x7 matrix in column-major format.

Arguments

frame - The desired frame.
q - Joint position.
F_T_EE - End effector in flange frame.
EE_T_K - Stiffness frame K in the end effector frame.

Return

Vectorized 6x7 Jacobian, column-major.

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pub fn zero_jacobian_from_state(
    &self,
    frame: &Frame,
    robot_state: &RobotState
) -> [f64 ; 42]

Gets the 6x7 Jacobian for the given joint relative to the base frame.

The Jacobian is represented as a 6x7 matrix in column-major format.

Arguments

frame - The desired frame.
robot_state - State from which the pose should be calculated.

Return

Vectorized 6x7 Jacobian, column-major.

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pub fn mass(
    &self,
    q: &[f64 ; 7],
    I_total: &[f64 ; 9],
    m_total: f64,
    F_x_Ctotal: &[f64 ; 3]
) -> [f64 ; 49]

Calculates the 7x7 mass matrix. Unit: [kg \times m^2].

Arguments

q - Joint position.
I_total - Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: [kg * m^2].
m_total - Weight of the attached total load including end effector. Unit: [kg].
F_x_Ctotal - Translation from flange to center of mass of the attached total load. Unit: [m].

Return

Vectorized 7x7 mass matrix, column-major.

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pub fn mass_from_state(&self, robot_state: &RobotState) -> [f64 ; 49]

Calculates the 7x7 mass matrix. Unit: [kg \times m^2].

Arguments

robot_state - State from which the mass matrix should be calculated.

Return

Vectorized 7x7 mass matrix, column-major.

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pub fn coriolis(
    &self,
    q: &[f64 ; 7],
    dq: &[f64 ; 7],
    I_total: &[f64 ; 9],
    m_total: f64,
    F_x_Ctotal: &[f64 ; 3]
) -> [f64 ; 7]

Calculates the Coriolis force vector (state-space equation): $c= C \times dq$ , in [Nm].

Arguments

q - Joint position.
dq - Joint velocity.
I_total - Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: [kg * m^2].
m_total - Weight of the attached total load including end effector. Unit: [kg].
F_x_Ctotal - Translation from flange to center of mass of the attached total load. Unit: [m].

Return

Coriolis force vector.

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pub fn coriolis_from_state(&self, robot_state: &RobotState) -> [f64 ; 7]

Calculates the Coriolis force vector (state-space equation): $c= C \times dq$ , in [Nm].

Arguments

robot_state - State from which the Coriolis force vector should be calculated.

Return

Coriolis force vector.

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pub fn gravity<'a, Grav: Into<Option<&'a [f64 ; 3]>>>(
 &self,
 q: &[f64 ; 7],
 m_total: f64,
 F_x_Ctotal: &[f64 ; 3],
 gravity_earth: Grav
) -> [f64 ; 7]

Calculates the gravity vector. Unit: [Nm].

Arguments

q - Joint position.
m_total - Weight of the attached total load including end effector. Unit: [kg].
F_x_Ctotal - Translation from flange to center of mass of the attached total load. Unit: [m].
gravity_earth - Earth’s gravity vector. Unit: [m / s^2] Default to [0.0, 0.0, -9.81].

Return

Gravity vector.

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pub fn gravity_from_state<'a, Grav: Into<Option<&'a [f64 ; 3]>>>(
 &self,
 robot_state: &RobotState,
 gravity_earth: Grav
) -> [f64 ; 7]

Calculates the gravity vector. Unit: [Nm].

Arguments

robot_state - State from which the gravity vector should be calculated.
gravity_earth - Earth’s gravity vector. Unit: [m / s^2]. By default gravity_earth will be calculated from RobotState::O_ddP_O.

Return

Gravity vector.

Auto Trait Implementations

impl RefUnwindSafe for Model

impl Send for Model

impl Sync for Model

impl Unpin for Model

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct franka::model::Model

Implementations

impl Model

pub fn new<S: AsRef<Path>>( model_filename: S, libm_filename: Option<&Path>) -> FrankaResult<Self>

pub fn pose( &self, frame: &Frame, q: &[f64; 7], F_T_EE: &[f64; 16], EE_T_K: &[f64; 16]) -> [f64; 16]

pub fn pose_from_state( &self, frame: &Frame, robot_state: &RobotState) -> [f64; 16]

pub fn body_jacobian( &self, frame: &Frame, q: &[f64; 7], F_T_EE: &[f64; 16], EE_T_K: &[f64; 16]) -> [f64; 42]

pub fn body_jacobian_from_state( &self, frame: &Frame, robot_state: &RobotState) -> [f64; 42]

pub fn zero_jacobian( &self, frame: &Frame, q: &[f64; 7], F_T_EE: &[f64; 16], EE_T_K: &[f64; 16]) -> [f64; 42]

pub fn zero_jacobian_from_state( &self, frame: &Frame, robot_state: &RobotState) -> [f64; 42]

pub fn mass( &self, q: &[f64; 7], I_total: &[f64; 9], m_total: f64, F_x_Ctotal: &[f64; 3]) -> [f64; 49]

pub fn mass_from_state(&self, robot_state: &RobotState) -> [f64; 49]

pub fn coriolis( &self, q: &[f64; 7], dq: &[f64; 7], I_total: &[f64; 9], m_total: f64, F_x_Ctotal: &[f64; 3]) -> [f64; 7]

pub fn coriolis_from_state(&self, robot_state: &RobotState) -> [f64; 7]

pub fn gravity<'a, Grav: Into<Option<&'a [f64; 3]>>>( &self, q: &[f64; 7], m_total: f64, F_x_Ctotal: &[f64; 3], gravity_earth: Grav) -> [f64; 7]

pub fn gravity_from_state<'a, Grav: Into<Option<&'a [f64; 3]>>>( &self, robot_state: &RobotState, gravity_earth: Grav) -> [f64; 7]

Auto Trait Implementations

impl RefUnwindSafe for Model

impl Send for Model

impl Sync for Model

impl Unpin for Model

impl UnwindSafe for Model

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<V, T> VZip<V> for T where V: MultiLane<T>,

fn vzip(self) -> V

pub fn new<S: AsRef<Path>>(
model_filename: S,
libm_filename: Option<&Path>
) -> FrankaResult<Self>

pub fn pose(
&self,
frame: &Frame,
q: &[f64 ; 7],
F_T_EE: &[f64 ; 16],
EE_T_K: &[f64 ; 16]
) -> [f64 ; 16]

pub fn pose_from_state(
&self,
frame: &Frame,
robot_state: &RobotState
) -> [f64 ; 16]

pub fn body_jacobian(
&self,
frame: &Frame,
q: &[f64 ; 7],
F_T_EE: &[f64 ; 16],
EE_T_K: &[f64 ; 16]
) -> [f64 ; 42]

pub fn body_jacobian_from_state(
&self,
frame: &Frame,
robot_state: &RobotState
) -> [f64 ; 42]

pub fn zero_jacobian(
&self,
frame: &Frame,
q: &[f64 ; 7],
F_T_EE: &[f64 ; 16],
EE_T_K: &[f64 ; 16]
) -> [f64 ; 42]

pub fn zero_jacobian_from_state(
&self,
frame: &Frame,
robot_state: &RobotState
) -> [f64 ; 42]

pub fn mass(
&self,
q: &[f64 ; 7],
I_total: &[f64 ; 9],
m_total: f64,
F_x_Ctotal: &[f64 ; 3]
) -> [f64 ; 49]

pub fn mass_from_state(&self, robot_state: &RobotState) -> [f64 ; 49]

pub fn coriolis(
&self,
q: &[f64 ; 7],
dq: &[f64 ; 7],
I_total: &[f64 ; 9],
m_total: f64,
F_x_Ctotal: &[f64 ; 3]
) -> [f64 ; 7]

pub fn coriolis_from_state(&self, robot_state: &RobotState) -> [f64 ; 7]

pub fn gravity<'a, Grav: Into<Option<&'a [f64 ; 3]>>>(
&self,
q: &[f64 ; 7],
m_total: f64,
F_x_Ctotal: &[f64 ; 3],
gravity_earth: Grav
) -> [f64 ; 7]

pub fn gravity_from_state<'a, Grav: Into<Option<&'a [f64 ; 3]>>>(
&self,
robot_state: &RobotState,
gravity_earth: Grav
) -> [f64 ; 7]

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<V, T> VZip<V> for T where
V: MultiLane<T>,