Drake
drake::multibody::benchmarks::kuka_iiwa_robot Namespace Reference

Namespaces

 internal
 
 MG
 

Classes

class  DrakeKukaIIwaRobot
 This class is a MultibodyTree model for a 7-DOF Kuka iiwa robot arm. More...
 
struct  KukaRobotJointReactionForces
 Utility struct to assist with returning joint torques/forces. More...
 

Functions

Eigen::Isometry3d MakeIsometry3d (const Eigen::Matrix3d &R_AB, const Eigen::Vector3d &p_AoBo_A)
 Utility method for creating a transform from frame A to frame B. More...
 
 DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS (class internal::KukaIiwaModelBuilder)
 
template<typename T >
std::unique_ptr< MultibodyTree< T > > MakeKukaIiwaModel (bool finalize_model=true, double gravity=9.81)
 This method makes a MultibodyTree model for a Kuka Iiwa arm as specified in the file kuka_iiwa_robot.urdf contained in this same directory. More...
 

Function Documentation

drake::multibody::benchmarks::kuka_iiwa_robot::DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS ( class internal::KukaIiwaModelBuilder  )

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Eigen::Isometry3d drake::multibody::benchmarks::kuka_iiwa_robot::MakeIsometry3d ( const Eigen::Matrix3d &  R_AB,
const Eigen::Vector3d &  p_AoBo_A 
)

Utility method for creating a transform from frame A to frame B.

Parameters
[in]R_ABRotation matrix relating Ax, Ay, Az to Bx, By, Bz.
[in]p_AoBo_APosition vector from Ao to Bo, expressed in A.
Return values
X_ABTranform relating frame A to frame B.
std::unique_ptr<MultibodyTree<T> > drake::multibody::benchmarks::kuka_iiwa_robot::MakeKukaIiwaModel ( bool  finalize_model = true,
double  gravity = 9.81 
)

This method makes a MultibodyTree model for a Kuka Iiwa arm as specified in the file kuka_iiwa_robot.urdf contained in this same directory.

Links can be accessed by their name "iiwa_link_1" (base) through "iiwa_link_7" (end effector). The "world" body can be accessed with MultibodyTree::get_world_body(). Joints can be accessed by their name "iiwa_joint_1" (from the base) through "iiwa_joint_7" (to the end effector). The new MultibodyTree model is finalized by MultibodyTree::Finalize() and therefore no more modeling elements can be added.

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 value of the acceleration of gravity, in m/s².

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