Struct NativeBackend 

pub struct NativeBackend { /* private fields */ }

Serial-chain rigid-body model built from a URDF.

Implementations

impl NativeBackend

pub fn from_urdf(urdf: &str) -> FrankaResult<NativeBackend>

Builds the model from a URDF string.

The chain from the URDF root to the link8 frame must contain exactly seven revolute (or continuous) joints; fixed joints anywhere along the way are folded into the neighbouring placements and the inertias of the links they carry are merged into the supporting joint, which is what pinocchio::urdf::buildModelFromXML does for the model libfranka builds.

pub fn flange_placement(&self) -> [f64; 16]

Placement of the flange (link8) frame in joint 7’s frame, as a column-major 4x4 matrix.

This is pinocchio_model_.frames[last_link_frame_index_].placement, the transform RobotModel::updateInertiaIfNeeded uses to move the total load from the flange frame into the last joint’s frame.

Trait Implementations

impl Clone for NativeBackend

fn clone(&self) -> NativeBackend

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for NativeBackend

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl RobotModelBackend for NativeBackend

fn coriolis( &self, q: &[f64; 7], dq: &[f64; 7], i_total: &[f64; 9], m_total: f64, f_x_ctotal: &[f64; 3], gravity_earth: &[f64; 3], ) -> [f64; 7]

Coriolis force vector C(q, dq) * dq, in Nm.

fn gravity( &self, q: &[f64; 7], gravity_earth: &[f64; 3], m_total: f64, f_x_ctotal: &[f64; 3], ) -> [f64; 7]

Gravity torque vector, in Nm. Port of RobotModelBase::gravity.

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

7x7 joint-space inertia matrix, column-major. Port of RobotModelBase::mass.

fn pose(&self, q: &[f64; 7], joint_index: usize) -> [f64; 16]

Pose of a joint frame in the base frame. Port of RobotModelBase::pose.

fn pose_flange(&self, q: &[f64; 7]) -> [f64; 16]

Pose of the flange frame. Port of RobotModelBase::poseFlange.

fn pose_ee(&self, q: &[f64; 7], f_t_ee: &[f64; 16]) -> [f64; 16]

Pose of the end-effector frame. Port of RobotModelBase::poseEe.

fn pose_stiffness( &self, q: &[f64; 7], f_t_ee: &[f64; 16], ee_t_k: &[f64; 16], ) -> [f64; 16]

Pose of the stiffness frame. Port of RobotModelBase::poseStiffness.

fn body_jacobian(&self, q: &[f64; 7], joint_index: usize) -> [f64; 42]

Body (LOCAL) Jacobian of a joint frame. Port of RobotModelBase::bodyJacobian.

fn body_jacobian_flange(&self, q: &[f64; 7]) -> [f64; 42]

Body Jacobian of the flange frame. Port of RobotModelBase::bodyJacobianFlange.

fn body_jacobian_ee(&self, q: &[f64; 7], f_t_ee: &[f64; 16]) -> [f64; 42]

Body Jacobian of the end-effector frame. Port of RobotModelBase::bodyJacobianEe.

fn body_jacobian_stiffness( &self, q: &[f64; 7], f_t_ee: &[f64; 16], ee_t_k: &[f64; 16], ) -> [f64; 42]

Body Jacobian of the stiffness frame. Port of RobotModelBase::bodyJacobianStiffness.

fn zero_jacobian(&self, q: &[f64; 7], joint_index: usize) -> [f64; 42]

Zero (LOCAL_WORLD_ALIGNED) Jacobian of a joint frame. Port of RobotModelBase::zeroJacobian.

fn zero_jacobian_flange(&self, q: &[f64; 7]) -> [f64; 42]

Zero Jacobian of the flange frame. Port of RobotModelBase::zeroJacobianFlange.

fn zero_jacobian_ee(&self, q: &[f64; 7], f_t_ee: &[f64; 16]) -> [f64; 42]

Zero Jacobian of the end-effector frame. Port of RobotModelBase::zeroJacobianEe.

fn zero_jacobian_stiffness( &self, q: &[f64; 7], f_t_ee: &[f64; 16], ee_t_k: &[f64; 16], ) -> [f64; 42]

Zero Jacobian of the stiffness frame. Port of RobotModelBase::zeroJacobianStiffness.