gtsam.examples.PlanarManipulatorExample.ThreeLinkArm Class Reference

Inheritance diagram for gtsam.examples.PlanarManipulatorExample.ThreeLinkArm:

Public Member Functions
def	__init__ (self)
def	con (self, q)
def	fk (self, q)
def	ik (self, sTt_desired, e=1e-9)
def	jacobian (self, q)
def	manipulator_jacobian (self, q)
def	plot (self, fignum, q)
def	poe (self, q)
Public Member Functions inherited from object
template<typename T >
T	cast () &&
template<typename T >
T	cast () const &
template<>
void	cast () const &
	object ()=default
	object (const object &o)
	Copy constructor; always increases the reference count. More...
	object (handle h, borrowed_t)
	object (handle h, stolen_t)
	object (object &&other) noexcept
	Move constructor; steals the object from other and preserves its reference count. More...
object &	operator= (const object &other)
object &	operator= (object &&other) noexcept
	PYBIND11_DEPRECATED ("Use reinterpret_borrow<object>() or reinterpret_steal<object>()") object(handle h
handle	release ()
	~object ()
	Destructor; automatically calls handle::dec_ref() More...
Public Member Functions inherited from handle
template<typename T >
T	cast () const
template<>
void	cast () const
bool	check () const
const handle &	dec_ref () const &
	handle ()=default
	The default constructor creates a handle with a nullptr-valued pointer. More...
template<typename T , detail::enable_if_t< detail::all_of< detail::none_of< std::is_base_of< handle, T >, detail::is_pyobj_ptr_or_nullptr_t< T >>, std::is_convertible< T, PyObject * >>::value, int > = 0>
	handle (T &obj)
	Enable implicit conversion through T::operator PyObject *(). More...
template<typename T , detail::enable_if_t< detail::is_pyobj_ptr_or_nullptr_t< T >::value, int > = 0>
	handle (T ptr)
const handle &	inc_ref () const &
	operator bool () const
	Return true when the handle wraps a valid Python object. More...
bool	operator!= (const handle &h) const
bool	operator== (const handle &h) const
PyObject *&	ptr ()
PyObject *	ptr () const
	Return the underlying PyObject * pointer. More...

Public Attributes
	L1
	L2
	L3
	sXt0
	xi1
	xi2
	xi3
Public Attributes inherited from object
bool	is_borrowed: handle(h) { if (is_borrowed) { inc_ref()

Additional Inherited Members
Static Public Member Functions inherited from handle
static std::size_t	inc_ref_counter ()
Protected Attributes inherited from handle
PyObject *	m_ptr = nullptr

Detailed Description

Three-link arm class.

Definition at line 60 of file PlanarManipulatorExample.py.

Constructor & Destructor Documentation

__init__()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.__init__

(

self

)

Definition at line 63 of file PlanarManipulatorExample.py.

Member Function Documentation

con()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.con	(		self,
			q
	)

Forward kinematics, conjugation form.
    Takes numpy array of joint angles, in radians.

Definition at line 108 of file PlanarManipulatorExample.py.

fk()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.fk	(		self,
			q
	)

Forward kinematics.
    Takes numpy array of joint angles, in radians.

Definition at line 72 of file PlanarManipulatorExample.py.

ik()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.ik	(		self,
			sTt_desired,
			e = 1e-9
	)

Inverse kinematics.
    Takes desired Pose2 of tool T with respect to base S.
    Optional: mu, gradient descent rate; e: error norm threshold

Definition at line 121 of file PlanarManipulatorExample.py.

jacobian()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.jacobian	(		self,
			q
	)

Calculate manipulator Jacobian.
    Takes numpy array of joint angles, in radians.

Definition at line 85 of file PlanarManipulatorExample.py.

manipulator_jacobian()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.manipulator_jacobian	(		self,
			q
	)

Calculate manipulator Jacobian.
    Takes numpy array of joint angles, in radians.
    Returns the manipulator Jacobian of differential twists. When multiplied with
    a vector of joint velocities, will yield a single differential twist which is
    the spatial velocity d(sTt)/dt * inv(sTt) of the end-effector pose.
    Just like always, differential twists can be hatted and multiplied with spatial
    coordinates of a point to give the spatial velocity of the point.

Definition at line 137 of file PlanarManipulatorExample.py.

plot()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.plot	(		self,
			fignum,
			q
	)

Plot arm.
    Takes figure number, and numpy array of joint angles, in radians.

Definition at line 162 of file PlanarManipulatorExample.py.

poe()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.poe	(		self,
			q
	)

Forward kinematics.
    Takes numpy array of joint angles, in radians.

Definition at line 99 of file PlanarManipulatorExample.py.

Member Data Documentation

L1

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L1

Definition at line 64 of file PlanarManipulatorExample.py.

L2

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L2

Definition at line 65 of file PlanarManipulatorExample.py.

L3

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L3

Definition at line 66 of file PlanarManipulatorExample.py.

sXt0

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.sXt0

Definition at line 70 of file PlanarManipulatorExample.py.

xi1

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi1

Definition at line 67 of file PlanarManipulatorExample.py.

xi2

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi2

Definition at line 68 of file PlanarManipulatorExample.py.

xi3

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi3

Definition at line 69 of file PlanarManipulatorExample.py.

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

• PlanarManipulatorExample.py