Kinematic Chains
(jcb) Not sure where these should go:
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class PyKDL.FrameVel
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GetFrame() → None
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GetTwist() → None
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Identity() → None
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Inverse() → None
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M
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deriv() → None
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p
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value() → None
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class PyKDL.Jacobian
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columns() → None
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rows() → None
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class PyKDL.JntArray
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columns() → None
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rows() → None
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class PyKDL.JntArrayVel
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deriv() → None
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q
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qdot
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value() → None
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class PyKDL.Multiply
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class PyKDL.MultiplyJacobian
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class PyKDL.RotationVel
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DoRotX() → None
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DoRotY() → None
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DoRotZ() → None
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Identity() → None
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Inverse() → None
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R
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Rot() → None
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Rot2() → None
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RotX() → None
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RotY() → None
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RotZ() → None
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UnitX() → None
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UnitY() → None
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UnitZ() → None
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deriv() → None
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value() → None
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w
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class PyKDL.TwistVel
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GetTwist() → None
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GetTwistDot() → None
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RefPoint() → None
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ReverseSign() → None
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Zero() → None
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deriv() → None
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value() → None
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class PyKDL.VectorVel
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Norm() → None
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ReverseSign() → None
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Zero() → None
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deriv() → None
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p
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v
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value() → None
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class PyKDL.Joint
(jcb) these are odd - have to decide by hand what they are:
- JointType
- None
- RotX
- RotY
- RotZ
- TransX
- TransY
- TransZ
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getType() → None
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getTypeName() → None
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pose() → None
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twist() → None
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class PyKDL.Segment
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getFrameToTip() → None
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getJoint() → None
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pose() → None
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twist() → None
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class PyKDL.Chain
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addChain(chain) → None
| Parameters: | chain (Chain) – chain to add |
|---|
Adds a complete chain to the end of the chain The added chain is copied
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addSegment(segment) → None
| Parameters: | segment (Segment) – segment to add |
|---|
Adds a new segment to the end of the chain
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getNrOfJoints() → int
Request the total number of joints in the chain.
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getNrOfSegments() → int
Request the total number of segments in the chain.
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getSegment(nr) → segment
| Parameters: | nr (int) – segment number, starting at zero |
|---|
| Return type: | Segment |
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Request the nr’d segment of the chain.