5 #include <pinocchio/algorithm/centroidal.hpp>
6 #include <pinocchio/algorithm/crba.hpp>
7 #include <pinocchio/algorithm/rnea.hpp>
8 #include <pinocchio/multibody/model.hpp>
9 #include <pinocchio/parsers/urdf.hpp>
12 #include "franka/robot_model_base.h"
22 void coriolis(
const std::array<double, 7>& q,
23 const std::array<double, 7>& dq,
24 const std::array<double, 9>& i_total,
26 const std::array<double, 3>& f_x_ctotal,
27 std::array<double, 7>& c_ne)
override;
28 void gravity(
const std::array<double, 7>& q,
29 const std::array<double, 3>& g_earth,
31 const std::array<double, 3>& f_x_ctotal,
32 std::array<double, 7>& g_ne)
override;
33 void mass(
const std::array<double, 7>& q,
34 const std::array<double, 9>& i_total,
36 const std::array<double, 3>& f_x_ctotal,
37 std::array<double, 49>& m_ne)
override;
44 void addInertiaToLastLink(
const std::array<double, 9>& i_total,
46 const std::array<double, 3>& f_x_ctotal);
52 const std::array<double, 9>& i_total,
54 const std::array<double, 3>& f_x_ctotal,
55 pinocchio::Data& data,
56 const std::function<
void(pinocchio::Model&, pinocchio::Data&)>& compute_func);
58 pinocchio::Model pinocchio_model_;
59 pinocchio::Inertia initial_last_link_inertia_;
60 pinocchio::FrameIndex last_link_frame_index_;
61 pinocchio::JointIndex last_joint_index_;