Interface to obtain certain model data of the robot, including kinematics and dynamics. 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] Instantiate the robot model interface. More...

std::vector< std::string >	link_names () const
	[Non-blocking] Names of all links in the robot model. More...

std::vector< std::string >	joint_names () const
	[Non-blocking] Names of all actuated joints in the robot model. More...

void	Reload ()
	[Blocking] Reload (refresh) parameters of the robot model stored locally in this class using the latest data synced from the connected robot. Tool model is also synced. More...

void	Update (const std::vector< double > &full_q, const std::vector< double > &full_dq)
	[Non-blocking] Update the configuration (posture) of the locally-stored robot model so that the locally computed functions return results based on the updated configuration. More...

Eigen::MatrixXd	dJ (const std::string &link_name)
	[Non-blocking] Compute the time derivative of Jacobian matrix at the specified frame w.r.t. world frame. More...

Eigen::MatrixXd	M ()
	[Non-blocking] Compute the mass matrix in generalized coordinates, i.e. joint space. More...

Eigen::MatrixXd	C ()
	[Non-blocking] Compute the Coriolis/centripetal matrix in generalized coordinates, i.e. joint space. More...

Eigen::VectorXd	g ()
	[Non-blocking] Compute the gravity force vector in generalized coordinates, i.e. joint space. More...

Eigen::VectorXd	c ()
	[Non-blocking] Compute the Coriolis force vector in generalized coordinates, i.e. joint space. More...

Eigen::MatrixXd	J (const std::string &link_name)
	[Non-blocking] Compute the Jacobian matrix at the specified frame w.r.t. world frame. More...

Eigen::Isometry3d	T (const std::string &link_name)
	[Non-blocking] Compute the transformation matrix of the specified frame w.r.t. world frame. More...

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

size_t	SyncKinematicsYAML (const std::string &template_yaml_path)
	[Blocking] Sync the actual kinematic parameters of the connected robot into the template YAML file. More...

IKResult	SolveConstrainedIK (const std::map< JointGroup, IKParams > &ik_params_by_group)
	[Blocking] Solve constrained IK using one or more active joint groups. More...

std::map< JointGroup, std::pair< double, double > >	configuration_score () const
	[Blocking] Score of each joint group's current configuration (posture), calculated from the manipulability measurements. More...

std::map< JointGroup, std::vector< Eigen::Vector3d > >	multi_contact_forces () const
	[Non-blocking] Estimated multi-contact forces applied on each link of applicable joint groups, calculated using the force-torque sensors installed in every joint of the robot. More...

std::map< JointGroup, std::vector< Eigen::Vector3d > >	multi_contact_positions () const
	[Non-blocking] Estimated multi-contact positions on each link of applicable joint groups, calculated using the force-torque sensors installed in every joint of the robot. More...

Detailed Description

Interface to obtain certain model data of the robot, including kinematics and dynamics.

Definition at line 48 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] Instantiate the robot model interface.

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()

Eigen::MatrixXd flexiv::rdk::Model::C ( )

[Non-blocking] Compute the Coriolis/centripetal matrix in 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()

Eigen::VectorXd flexiv::rdk::Model::c ( )

[Non-blocking] Compute the Coriolis force vector in 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.

◆ configuration_score()

std::map<JointGroup, std::pair<double, double> > flexiv::rdk::Model::configuration_score ( ) const

[Blocking] Score of each joint group's current configuration (posture), calculated from the manipulability measurements.

Returns: Configuration score mapped by joint group as {translation_score, orientation_score}. The quality of configuration based on the score can be interpreted as: poor = [0, 20), medium = [20, 40), good = [40, 100].

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

Warning: A poor configuration score means the robot is near or at singularity, which can lead to degraded Cartesian performance. Use configuration with high scores for better manipulability and task results.

◆ dJ()

Eigen::MatrixXd flexiv::rdk::Model::dJ ( const std::string & link_name )

[Non-blocking] Compute the time derivative of Jacobian matrix at the specified frame w.r.t. world frame.

Parameters

[in] link_name Name of the link whose frame is the specified one.

Returns: Time derivative of the Jacobian matrix: \( ^{O}\dot{J_i} \in \mathbb{R}^{m \times n} \).

Exceptions

std::invalid_argument if [link_name] does not exist.

Note: Call Update() before this function.

See also: link_names().

◆ g()

Eigen::VectorXd flexiv::rdk::Model::g ( )

[Non-blocking] Compute the gravity force vector in 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()

Eigen::MatrixXd flexiv::rdk::Model::J ( const std::string & link_name )

[Non-blocking] Compute the Jacobian matrix at the specified frame w.r.t. world frame.

Parameters

[in] link_name Name of the link whose frame is the specified one.

Returns: Jacobian matrix: \( ^{O}J_i \in \mathbb{R}^{m \times n} \).

Exceptions

std::invalid_argument if [link_name] does not exist.

Note: Call Update() before this function.

See also: link_names().

◆ joint_names()

std::vector<std::string> flexiv::rdk::Model::joint_names ( ) const

[Non-blocking] Names of all actuated joints in the robot model.

Returns: Name vector in the same order as the robot's kinematic chain.

◆ link_names()

std::vector<std::string> flexiv::rdk::Model::link_names ( ) const

[Non-blocking] Names of all links in the robot model.

Returns: Name vector in the same order as the robot's kinematic chain.

◆ M()

Eigen::MatrixXd flexiv::rdk::Model::M ( )

[Non-blocking] Compute the mass matrix in 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.

◆ multi_contact_forces()

std::map<JointGroup, std::vector<Eigen::Vector3d> > flexiv::rdk::Model::multi_contact_forces ( ) const

[Non-blocking] Estimated multi-contact forces applied on each link of applicable joint groups, calculated using the force-torque sensors installed in every joint of the robot.

Returns: \( f_c \in \mathbb{R}^{n \times 1} \) mapped by joint group. Each vector element is a \( \mathbb{R}^{3 \times 1} \) force vector w.r.t. the corresponding link frame. Only contains joint groups that are capable of multi-contact estimation.

Warning: This data is only available on certain robot models. An empty vector will be returned if the connected robot does not support multi-contact estimation.

◆ multi_contact_positions()

std::map<JointGroup, std::vector<Eigen::Vector3d> > flexiv::rdk::Model::multi_contact_positions ( ) const

[Non-blocking] Estimated multi-contact positions on each link of applicable joint groups, calculated using the force-torque sensors installed in every joint of the robot.

Returns: \( p_c \in \mathbb{R}^{n \times 1} \) mapped by joint group. Each vector element is a \( \mathbb{R}^{3 \times 1} \) position vector w.r.t. the corresponding link frame. Only contains joint groups that are capable of multi-contact estimation.

Warning: This data is only available on certain robot models. An empty vector will be returned if the connected robot does not support multi-contact estimation.

◆ Reload()

void flexiv::rdk::Model::Reload ( )

[Blocking] Reload (refresh) parameters of the robot model stored locally in this class 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 parameters are synced and reloaded.; This function does not affect the kinematics functions.

Warning: Parameters of the locally-stored robot model must be manually refreshed using this function whenever a physical change is made to the connected robot (e.g. a tool is added or changed). Otherwise the locally computed functions will return incorrect results.

◆ SolveConstrainedIK()

IKResult flexiv::rdk::Model::SolveConstrainedIK ( const std::map< JointGroup, IKParams > & ik_params_by_group )

[Blocking] Solve constrained IK using one or more active joint groups.

Parameters

[in] ik_params_by_group IK input parameters mapped by active joint group. Joint groups not included in this map are treated as inactive. Only single-arm joint groups like ARM_1 and ARM_2 are accepted.

Returns: Solver result. [solved_q] contains one entry per requested active joint group.

Exceptions

std::invalid_argument	if input map is empty, if any joint group is not an existing single-arm joint group, or if any [seed_q] size does not match DoF of its joint group.
std::runtime_error	if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ SyncKinematicsYAML()

size_t flexiv::rdk::Model::SyncKinematicsYAML ( const std::string & template_yaml_path )

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

Parameters

[in] template_yaml_path Path to the template YAML file located at [flexiv_description/config/.../default_kinematics.yaml]. This template YAML file will be updated when the sync is finished.

Returns: Total number of joints that have been successfully synced.

Exceptions

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

Note: This function blocks until the sync is finished.

◆ 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 file.

Parameters

[in] template_urdf_path Path to the template URDF file that can be generated in flexiv_description. This template URDF file will be updated when the sync is finished.

Exceptions

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

Note: This function blocks until the sync is finished.

Why is this function needed?: The template URDF contains kinematic parameters of the latest version of robot hardware, 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.

◆ T()

Eigen::Isometry3d flexiv::rdk::Model::T ( const std::string & link_name )

[Non-blocking] Compute the transformation matrix of the specified frame w.r.t. world frame.

Parameters

[in] link_name Name of the link whose frame is the specified one.

Returns: Transformation matrix: \( ^{O}T_i \in \mathbb{R}^{4 \times 4} \).

Exceptions

std::invalid_argument if [link_name] does not exist.

Note: Call Update() before this function.

See also: link_names().

◆ Update()

void flexiv::rdk::Model::Update	(	const std::vector< double > &	full_q,
		const std::vector< double > &	full_dq
	)

[Non-blocking] Update the configuration (posture) of the locally-stored robot model so that the locally computed functions return results based on the updated configuration.

Parameters

[in]	full_q	Current joint positions of the whole robot and matching the order of joint_names(): \( q \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).
[in]	full_dq	Current joint velocities of the whole robot and matching the order of joint_names(): \( \dot{q} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).

Exceptions

std::invalid_argument if size of any input vector does not match robot full 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()

◆ configuration_score()

◆ dJ()

◆ g()

◆ J()

◆ joint_names()

◆ link_names()

◆ M()

◆ multi_contact_forces()

◆ multi_contact_positions()

◆ Reload()

◆ SolveConstrainedIK()

◆ SyncKinematicsYAML()

◆ SyncURDF()

◆ T()

◆ Update()