Drake
KukaIiwaModelBuilder< T > Class Template Reference

#include <drake/multibody/benchmarks/kuka_iiwa_robot/make_kuka_iiwa_model.h>

Public Member Functions

 KukaIiwaModelBuilder (bool finalize_model, double gravity)
 Instantiate a builder to make a MultibodyTree model of the KUKA iiwa arm as specified in this class' documentation. More...
 
std::unique_ptr< MultibodyTree< T > > Build () const
 Construct a 7-DOF Kuka iiwa robot arm (from file kuka_iiwa_robot.urdf). More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 KukaIiwaModelBuilder (const KukaIiwaModelBuilder &)=default
 
KukaIiwaModelBuilderoperator= (const KukaIiwaModelBuilder &)=default
 
 KukaIiwaModelBuilder (KukaIiwaModelBuilder &&)=default
 
KukaIiwaModelBuilderoperator= (KukaIiwaModelBuilder &&)=default
 

Constructor & Destructor Documentation

KukaIiwaModelBuilder ( const KukaIiwaModelBuilder< T > &  )
default
KukaIiwaModelBuilder ( bool  finalize_model,
double  gravity 
)
inline

Instantiate a builder to make a MultibodyTree model of the KUKA iiwa arm as specified in this class' documentation.

The world z-unit vector is vertically upward.

Parameters
[in]finalize_modelIf true, the model is finalized with MultibodyTree::Finalize(). A non-finalized model can be requested if adding more multibody elements is desired.
[in]gravityThe model's acceleration of gravity. gravity > 0 means the gravity field is directed opposite the world upward z-unit vector (i.e. downwards).

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Member Function Documentation

unique_ptr< MultibodyTree< T > > Build ( void  ) const

Construct a 7-DOF Kuka iiwa robot arm (from file kuka_iiwa_robot.urdf).

The robot is constructed with 7 revolute joints. The world z-unit vector is vertically upward. The acceleration of gravity is of 9.81 m/s² directed opposite the world upward z-unit vector.

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KukaIiwaModelBuilder& operator= ( const KukaIiwaModelBuilder< T > &  )
default
KukaIiwaModelBuilder& operator= ( KukaIiwaModelBuilder< T > &&  )
default

The documentation for this class was generated from the following files: