.. _program_listing_file_include_franka_robot_model.h:

Program Listing for File robot_model.h
======================================

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

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

.. code-block:: cpp

   // Copyright (c) 2024 Franka Robotics GmbH
   // Use of this source code is governed by the Apache-2.0 license, see LICENSE
   #pragma once
   
   #include <pinocchio/algorithm/centroidal.hpp>
   #include <pinocchio/algorithm/crba.hpp>
   #include <pinocchio/algorithm/rnea.hpp>
   #include <pinocchio/multibody/model.hpp>
   #include <pinocchio/parsers/urdf.hpp>
   #include <string>
   
   #include "franka/robot_model_base.h"
   
   namespace franka {
   
   class RobotModel : public RobotModelBase {
    public:
     RobotModel(const std::string& urdf);
     void coriolis(const std::array<double, 7>& q,
                   const std::array<double, 7>& dq,
                   const std::array<double, 9>& i_total,
                   double m_total,
                   const std::array<double, 3>& f_x_ctotal,
                   std::array<double, 7>& c_ne) override;
     void gravity(const std::array<double, 7>& q,
                  const std::array<double, 3>& g_earth,
                  double m_total,
                  const std::array<double, 3>& f_x_ctotal,
                  std::array<double, 7>& g_ne) override;
     void mass(const std::array<double, 7>& q,
               const std::array<double, 9>& i_total,
               double m_total,
               const std::array<double, 3>& f_x_ctotal,
               std::array<double, 49>& m_ne) override;
   
    private:
     void addInertiaToLastLink(const std::array<double, 9>& i_total,
                               double m_total,
                               const std::array<double, 3>& f_x_ctotal);
     void computeDynamics(
         const std::array<double, 9>& i_total,
         double m_total,
         const std::array<double, 3>& f_x_ctotal,
         pinocchio::Data& data,
         const std::function<void(pinocchio::Model&, pinocchio::Data&)>& compute_func);
   
     pinocchio::Model pinocchio_model_;
     pinocchio::Inertia initial_last_link_inertia_;
     pinocchio::FrameIndex last_link_frame_index_;
     pinocchio::JointIndex last_joint_index_;
   };
   
   }  // namespace franka