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

Functions
template<typename T>
std::unique_ptr< multibody::internal::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.

Function Documentation

MakeKukaIiwaModel()

template<typename T>

std::unique_ptr< multibody::internal::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.

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::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_model	If true, the model is finalized with MultibodyTree::Finalize(). A non-finalized model can be requested if adding more multibody elements is desired.
[in]	gravity	The value of the acceleration of gravity, in m/s².