9 #include <franka/robot_model_base.h>
44 Frame operator++(Frame& frame,
int ) noexcept;
65 explicit Model(franka::Network& network,
const std::string& urdf_model);
76 explicit Model(franka::Network& network, std::unique_ptr<RobotModelBase> robot_model);
123 std::array<double, 16>
pose(
125 const std::array<double, 7>& q,
126 const std::array<double, 16>& F_T_EE,
127 const std::array<double, 16>& EE_T_K)
156 const std::array<double, 7>& q,
157 const std::array<double, 16>& F_T_EE,
158 const std::array<double, 16>& EE_T_K)
187 const std::array<double, 7>& q,
188 const std::array<double, 16>& F_T_EE,
189 const std::array<double, 16>& EE_T_K)
214 std::array<double, 49>
mass(
215 const std::array<double, 7>& q,
216 const std::array<double, 9>& I_total,
218 const std::array<double, 3>& F_x_Ctotal)
247 const std::array<double, 7>& q,
248 const std::array<double, 7>& dq,
249 const std::array<double, 9>& I_total,
251 const std::array<double, 3>& F_x_Ctotal)
268 const std::array<double, 7>& q,
270 const std::array<double, 3>& F_x_Ctotal,
271 const std::array<double, 3>& gravity_earth = {{0., 0., -9.81}})
const noexcept;
282 const std::array<double, 3>& gravity_earth)
const noexcept;
299 std::unique_ptr<ModelLibrary> library_;
300 std::unique_ptr<RobotModelBase> robot_model_;