Classes | Functions | Variables
gtsam.examples.PlanarManipulatorExample Namespace Reference

Classes

class  TestPose2SLAMExample
 
class  ThreeLinkArm
 

Functions

def compose (*poses)
 
def delta (g0, g1)
 
def run_example ()
 
def trajectory (g0, g1, N=20)
 
def vector3 (x, y, z)
 
def vee (M)
 

Variables

def Q0 = vector3(0, 0, 0)
 
 Q1 = np.radians(vector3(-30, -45, -90))
 
 Q2 = np.radians(vector3(-90, 90, 0))
 

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

Kinematics of three-link manipulator with GTSAM poses and product of exponential maps.
Author: Frank Dellaert

Function Documentation

◆ compose()

def gtsam.examples.PlanarManipulatorExample.compose ( poses)
Compose all Pose2 transforms given as arguments from left to right.

Definition at line 35 of file PlanarManipulatorExample.py.

◆ delta()

def gtsam.examples.PlanarManipulatorExample.delta (   g0,
  g1 
)
Difference between x,y,,theta components of SE(2) poses.

Definition at line 45 of file PlanarManipulatorExample.py.

◆ run_example()

def gtsam.examples.PlanarManipulatorExample.run_example ( )
Use trajectory interpolation and then trajectory tracking a la Murray
    to move a 3-link arm on a straight line.

Definition at line 294 of file PlanarManipulatorExample.py.

◆ trajectory()

def gtsam.examples.PlanarManipulatorExample.trajectory (   g0,
  g1,
  N = 20 
)
Create an interpolated trajectory in SE(2), treating x,y, and theta separately.
    g0 and g1 are the initial and final pose, respectively.
    N is the number of *intervals*
    Returns N+1 poses

Definition at line 50 of file PlanarManipulatorExample.py.

◆ vector3()

def gtsam.examples.PlanarManipulatorExample.vector3 (   x,
  y,
  z 
)
Create 3D double numpy array.

Definition at line 30 of file PlanarManipulatorExample.py.

◆ vee()

def gtsam.examples.PlanarManipulatorExample.vee (   M)
Pose2 vee operator.

Definition at line 40 of file PlanarManipulatorExample.py.

Variable Documentation

◆ Q0

def gtsam.examples.PlanarManipulatorExample.Q0 = vector3(0, 0, 0)

Definition at line 199 of file PlanarManipulatorExample.py.

◆ Q1

gtsam.examples.PlanarManipulatorExample.Q1 = np.radians(vector3(-30, -45, -90))

Definition at line 200 of file PlanarManipulatorExample.py.

◆ Q2

gtsam.examples.PlanarManipulatorExample.Q2 = np.radians(vector3(-90, 90, 0))

Definition at line 201 of file PlanarManipulatorExample.py.



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autogenerated on Thu Jun 13 2024 03:18:13