Class robot_dart::robots::Franka¶

ClassList > robot_dart > robots > Franka

Inherits the following classes: robot_dart::Robot

Public Functions¶

Type	Name
	Franka (size_t frequency=1000, const std::string & urdf="franka/franka.urdf", const std::vector< std::pair< std::string, std::string > > & packages=('franka\_description', 'franka/franka\_description'))
const sensor::ForceTorque &	ft_wrist () const

Public Functions inherited from robot_dart::Robot¶

See robot_dart::Robot

Type	Name
	Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true)
	Robot (const std::string & model_file, const std::string & robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true)
	Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name="robot", bool cast_shadows=true)
Eigen::VectorXd	acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	accelerations (const std::vector< std::string > & dof_names={}) const
std::vector< std::shared_ptr< control::RobotControl > >	active_controllers () const
std::string	actuator_type (const std::string & joint_name) const
std::vector< std::string >	actuator_types (const std::vector< std::string > & joint_names={}) const
void	add_body_mass (const std::string & body_name, double mass)
void	add_body_mass (size_t body_index, double mass)
void	add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0)
void	add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)
void	add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)
void	add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false)
void	add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false)
bool	adjacent_colliding () const
Eigen::MatrixXd	aug_mass_matrix (const std::vector< std::string > & dof_names={}) const
Eigen::Isometry3d	base_pose () const
Eigen::Vector6d	base_pose_vec () const
Eigen::Vector6d	body_acceleration (const std::string & body_name) const
Eigen::Vector6d	body_acceleration (size_t body_index) const
size_t	body_index (const std::string & body_name) const
double	body_mass (const std::string & body_name) const
double	body_mass (size_t body_index) const
std::string	body_name (size_t body_index) const
std::vector< std::string >	body_names () const
dart::dynamics::BodyNode *	body_node (const std::string & body_name)
dart::dynamics::BodyNode *	body_node (size_t body_index)
Eigen::Isometry3d	body_pose (const std::string & body_name) const
Eigen::Isometry3d	body_pose (size_t body_index) const
Eigen::Vector6d	body_pose_vec (const std::string & body_name) const
Eigen::Vector6d	body_pose_vec (size_t body_index) const
Eigen::Vector6d	body_velocity (const std::string & body_name) const
Eigen::Vector6d	body_velocity (size_t body_index) const
bool	cast_shadows () const
void	clear_controllers ()
void	clear_external_forces ()
void	clear_internal_forces ()
std::shared_ptr< Robot >	clone () const
std::shared_ptr< Robot >	clone_ghost (const std::string & ghost_name="ghost", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const
Eigen::Vector3d	com () const
Eigen::Vector6d	com_acceleration () const
Eigen::MatrixXd	com_jacobian (const std::vector< std::string > & dof_names={}) const
Eigen::MatrixXd	com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const
Eigen::Vector6d	com_velocity () const
Eigen::VectorXd	commands (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	constraint_forces (const std::vector< std::string > & dof_names={}) const
std::shared_ptr< control::RobotControl >	controller (size_t index) const
std::vector< std::shared_ptr< control::RobotControl > >	controllers () const
Eigen::VectorXd	coriolis_forces (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const
std::vector< double >	coulomb_coeffs (const std::vector< std::string > & dof_names={}) const
std::vector< double >	damping_coeffs (const std::vector< std::string > & dof_names={}) const
dart::dynamics::DegreeOfFreedom *	dof (const std::string & dof_name)
dart::dynamics::DegreeOfFreedom *	dof (size_t dof_index)
size_t	dof_index (const std::string & dof_name) const
const std::unordered_map< std::string, size_t > &	dof_map () const
std::string	dof_name (size_t dof_index) const
std::vector< std::string >	dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const
const std::vector< std::pair< dart::dynamics::BodyNode *, double > > &	drawing_axes () const
Eigen::Vector6d	external_forces (const std::string & body_name) const
Eigen::Vector6d	external_forces (size_t body_index) const
void	fix_to_world ()
bool	fixed () const
Eigen::VectorXd	force_lower_limits (const std::vector< std::string > & dof_names={}) const
void	force_position_bounds ()
std::pair< Eigen::Vector6d, Eigen::Vector6d >	force_torque (size_t joint_index) const
Eigen::VectorXd	force_upper_limits (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	forces (const std::vector< std::string > & dof_names={}) const
bool	free () const
void	free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero())
double	friction_coeff (const std::string & body_name)
double	friction_coeff (size_t body_index)
Eigen::Vector3d	friction_dir (const std::string & body_name)
Eigen::Vector3d	friction_dir (size_t body_index)
bool	ghost () const
Eigen::VectorXd	gravity_forces (const std::vector< std::string > & dof_names={}) const
Eigen::MatrixXd	inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const
Eigen::MatrixXd	inv_mass_matrix (const std::vector< std::string > & dof_names={}) const
Eigen::MatrixXd	jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const
Eigen::MatrixXd	jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const
dart::dynamics::Joint *	joint (const std::string & joint_name)
dart::dynamics::Joint *	joint (size_t joint_index)
size_t	joint_index (const std::string & joint_name) const
const std::unordered_map< std::string, size_t > &	joint_map () const
std::string	joint_name (size_t joint_index) const
std::vector< std::string >	joint_names () const
std::vector< std::string >	locked_dof_names () const
Eigen::MatrixXd	mass_matrix (const std::vector< std::string > & dof_names={}) const
std::vector< std::string >	mimic_dof_names () const
const std::string &	model_filename () const
const std::vector< std::pair< std::string, std::string > > &	model_packages () const
const std::string &	name () const
size_t	num_bodies () const
size_t	num_controllers () const
size_t	num_dofs () const
size_t	num_joints () const
std::vector< std::string >	passive_dof_names () const
std::vector< bool >	position_enforced (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	position_lower_limits (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	position_upper_limits (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	positions (const std::vector< std::string > & dof_names={}) const
void	reinit_controllers ()
void	remove_all_drawing_axis ()
void	remove_controller (const std::shared_ptr< control::RobotControl > & controller)
void	remove_controller (size_t index)
virtual void	reset ()
void	reset_commands ()
double	restitution_coeff (const std::string & body_name)
double	restitution_coeff (size_t body_index)
double	secondary_friction_coeff (const std::string & body_name)
double	secondary_friction_coeff (size_t body_index)
bool	self_colliding () const
void	set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={})
void	set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={})
void	set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={})
void	set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false)
void	set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false)
void	set_base_pose (const Eigen::Isometry3d & tf)
void	set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)
void	set_body_mass (const std::string & body_name, double mass)
void	set_body_mass (size_t body_index, double mass)
void	set_body_name (size_t body_index, const std::string & body_name)
void	set_cast_shadows (bool cast_shadows=true)
void	set_color_mode (const std::string & color_mode)
void	set_color_mode (const std::string & color_mode, const std::string & body_name)
void	set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={})
void	set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={})
void	set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={})
void	set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={})
void	set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={})
void	set_draw_axis (const std::string & body_name, double size=0.25)
void	set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)
void	set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true)
void	set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false)
void	set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false)
void	set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={})
void	set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={})
void	set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={})
void	set_friction_coeff (const std::string & body_name, double value)
void	set_friction_coeff (size_t body_index, double value)
void	set_friction_coeffs (double value)
void	set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction)
void	set_friction_dir (size_t body_index, const Eigen::Vector3d & direction)
void	set_ghost (bool ghost=true)
void	set_joint_name (size_t joint_index, const std::string & joint_name)
void	set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.)
void	set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={})
void	set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={})
void	set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={})
void	set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={})
void	set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={})
void	set_restitution_coeff (const std::string & body_name, double value)
void	set_restitution_coeff (size_t body_index, double value)
void	set_restitution_coeffs (double value)
void	set_secondary_friction_coeff (const std::string & body_name, double value)
void	set_secondary_friction_coeff (size_t body_index, double value)
void	set_secondary_friction_coeffs (double value)
void	set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false)
void	set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={})
void	set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={})
void	set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={})
void	set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={})
void	set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={})
dart::dynamics::SkeletonPtr	skeleton ()
std::vector< double >	spring_stiffnesses (const std::vector< std::string > & dof_names={}) const
void	update (double t)
void	update_joint_dof_maps ()
Eigen::VectorXd	vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const
Eigen::VectorXd	velocities (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	velocity_lower_limits (const std::vector< std::string > & dof_names={}) const
Eigen::VectorXd	velocity_upper_limits (const std::vector< std::string > & dof_names={}) const
virtual	~Robot ()

Public Static Functions inherited from robot_dart::Robot¶

See robot_dart::Robot

Type	Name
std::shared_ptr< Robot >	create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name="box")
std::shared_ptr< Robot >	create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name="box")
std::shared_ptr< Robot >	create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name="ellipsoid")
std::shared_ptr< Robot >	create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name="ellipsoid")

Protected Attributes¶

Type	Name
std::shared_ptr< sensor::ForceTorque >	_ft_wrist

Protected Attributes inherited from robot_dart::Robot¶

See robot_dart::Robot

Type	Name
std::vector< std::pair< dart::dynamics::BodyNode *, double > >	_axis_shapes
bool	_cast_shadows
std::vector< std::shared_ptr< control::RobotControl > >	_controllers
std::unordered_map< std::string, size_t >	_dof_map
bool	_is_ghost
std::unordered_map< std::string, size_t >	_joint_map
std::string	_model_filename
std::vector< std::pair< std::string, std::string > >	_packages
std::string	_robot_name
dart::dynamics::SkeletonPtr	_skeleton

Protected Functions¶

Type	Name
virtual void	_post_addition (RobotDARTSimu ) override Function called by* RobotDARTSimu object when adding the robot to the world.
virtual void	_post_removal (RobotDARTSimu ) override Function called by* RobotDARTSimu object when removing the robot to the world.

Protected Functions inherited from robot_dart::Robot¶

See robot_dart::Robot

Type	Name
dart::dynamics::Joint::ActuatorType	_actuator_type (size_t joint_index) const
std::vector< dart::dynamics::Joint::ActuatorType >	_actuator_types () const
std::string	_get_path (const std::string & filename) const
Eigen::MatrixXd	_jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const
dart::dynamics::SkeletonPtr	_load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false)
Eigen::MatrixXd	_mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const
virtual void	_post_addition (RobotDARTSimu ) Function called by* RobotDARTSimu object when adding the robot to the world.
virtual void	_post_removal (RobotDARTSimu ) Function called by* RobotDARTSimu object when removing the robot to the world.
void	_set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)
void	_set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false)
void	_set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false)
void	_set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)
void	_set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)

Public Functions Documentation¶

function Franka¶

robot_dart::robots::Franka::Franka (
    size_t frequency=1000,
    const std::string & urdf="franka/franka.urdf",
    const std::vector< std::pair< std::string, std::string > > & packages=('franka_description', 'franka/franka_description')
)

function ft_wrist¶

inline const sensor::ForceTorque & robot_dart::robots::Franka::ft_wrist () const

Protected Attributes Documentation¶

variable _ft_wrist¶

std::shared_ptr<sensor::ForceTorque> robot_dart::robots::Franka::_ft_wrist;

Protected Functions Documentation¶

function _post_addition¶

virtual void robot_dart::robots::Franka::_post_addition (
    RobotDARTSimu *
) override

Implements robot_dart::Robot::_post_addition

function _post_removal¶

virtual void robot_dart::robots::Franka::_post_removal (
    RobotDARTSimu *
) override

Implements robot_dart::Robot::_post_removal

The documentation for this class was generated from the following file robot_dart/robots/franka.hpp