.. _program_listing_file_include_franka_model.h:

Program Listing for File model.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_model.h>` (``include/franka/model.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 Franka Robotics GmbH
   // Use of this source code is governed by the Apache-2.0 license, see LICENSE
   #pragma once
   
   #include <array>
   #include <memory>
   
   #include <franka/robot.h>
   #include <franka/robot_model_base.h>
   #include <franka/robot_state.h>
   
   namespace franka {
   
   enum class Frame {
     kJoint1,
     kJoint2,
     kJoint3,
     kJoint4,
     kJoint5,
     kJoint6,
     kJoint7,
     kFlange,
     kEndEffector,
     kStiffness
   };
   
   Frame operator++(Frame& frame, int /* dummy */) noexcept;
   
   class ModelLibrary;
   class Network;
   
   class Model {
    public:
     explicit Model(franka::Network& network, const std::string& urdf_model);
   
     explicit Model(franka::Network& network, std::unique_ptr<RobotModelBase> robot_model);
   
     Model(Model&& model) noexcept;
   
     Model& operator=(Model&& model) noexcept;
   
     ~Model() noexcept;
   
     std::array<double, 16> pose(Frame frame, const franka::RobotState& robot_state) const;
   
     std::array<double, 16> pose(
         Frame frame,
         const std::array<double, 7>& q,
         const std::array<double, 16>& F_T_EE,  // NOLINT(readability-identifier-naming)
         const std::array<double, 16>& EE_T_K)  // NOLINT(readability-identifier-naming)
         const;
   
     std::array<double, 42> bodyJacobian(Frame frame, const franka::RobotState& robot_state) const;
   
     std::array<double, 42> bodyJacobian(
         Frame frame,
         const std::array<double, 7>& q,
         const std::array<double, 16>& F_T_EE,  // NOLINT(readability-identifier-naming)
         const std::array<double, 16>& EE_T_K)  // NOLINT(readability-identifier-naming)
         const;
   
     std::array<double, 42> zeroJacobian(Frame frame, const franka::RobotState& robot_state) const;
   
     std::array<double, 42> zeroJacobian(
         Frame frame,
         const std::array<double, 7>& q,
         const std::array<double, 16>& F_T_EE,  // NOLINT(readability-identifier-naming)
         const std::array<double, 16>& EE_T_K)  // NOLINT(readability-identifier-naming)
         const;
   
     std::array<double, 49> mass(const franka::RobotState& robot_state) const noexcept;
   
     std::array<double, 49> mass(
         const std::array<double, 7>& q,
         const std::array<double, 9>& I_total,  // NOLINT(readability-identifier-naming)
         double m_total,
         const std::array<double, 3>& F_x_Ctotal)  // NOLINT(readability-identifier-naming)
         const noexcept;
   
     std::array<double, 7> coriolis(const franka::RobotState& robot_state) const noexcept;
   
     std::array<double, 7> coriolis(
         const std::array<double, 7>& q,
         const std::array<double, 7>& dq,
         const std::array<double, 9>& I_total,  // NOLINT(readability-identifier-naming)
         double m_total,
         const std::array<double, 3>& F_x_Ctotal)  // NOLINT(readability-identifier-naming)
         const noexcept;
   
     std::array<double, 7> gravity(
         const std::array<double, 7>& q,
         double m_total,
         const std::array<double, 3>& F_x_Ctotal,  // NOLINT(readability-identifier-naming)
         const std::array<double, 3>& gravity_earth = {{0., 0., -9.81}}) const noexcept;
   
     std::array<double, 7> gravity(const franka::RobotState& robot_state,
                                   const std::array<double, 3>& gravity_earth) const noexcept;
   
     std::array<double, 7> gravity(const franka::RobotState& robot_state) const noexcept;
   
     Model(const Model&) = delete;
     Model& operator=(const Model&) = delete;
   
    private:
     std::unique_ptr<ModelLibrary> library_;
     std::unique_ptr<RobotModelBase> robot_model_;
   };
   
   }  // namespace franka