Functions | |
| def | cartesian_to_polar |
| def | close_to_boundary |
| def | compute_boundary |
| compute the boundary of the 2D points. | |
| def | dist_from_boundary |
| return distance from boundary. | |
| def | optimize_position |
| def | point_contained |
| mx,my,ma - motion of the robot cx,cy - axis of mechanism in robot frame. | |
| def | polar_to_cartesian |
| def | pts_within_dist |
| def | segway_motion_repulse |
| apologies for the poor name. | |
| def | tlRts |
| rotate vector from torso local to torso start frame. | |
| def | tlTts |
| transform from torso start to torso local frame. | |
| def | tsRtl |
| rotate vector from torso local to torso start frame. | |
| def | tsTtl |
| transform from torso local to torso start frame. | |
| def | vec_from_boundary |
| return 2x1 vector from closest boundary point | |
| def | visualize_boundary |
Variables | |
| tuple | bpts = compute_boundary(pts) |
| tuple | d = ut.load_pickle('../../pkls/workspace_dict_2009Sep05_200116.pkl') |
| tuple | k = d.keys() |
| tuple | k_idx = np.argmin(np.abs(np.array(k)-z)) |
| list | pts = d[k[k_idx]] |
| float | rad = 0.4 |
| float | z = 0.23 |
| def 2010_icra_epc_pull.segway_motion_calc.cartesian_to_polar | ( | pts | ) |
| pts | - 2xN np matrix |
Definition at line 50 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.close_to_boundary | ( | curr_pos, | |
| bndry, | |||
| pts, | |||
| dist_thresh | |||
| ) |
| curr_pos | - current location of end effector. 3x1 np matrix |
| bndry | - workspace boundary. 2xN np matrix |
Definition at line 226 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.compute_boundary | ( | pts | ) |
compute the boundary of the 2D points.
Making assumptions about the density of the points, tested with workspace_dict only.
| pts | - 2xN np matrix |
Definition at line 174 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.dist_from_boundary | ( | curr_pos, | |
| bndry, | |||
| pts | |||
| ) |
return distance from boundary.
(-ve if outside the boundary)
| curr_pos | - can be 3x1 np matrix |
| bndry | - boundary (2xN np matrix) |
| pts | - 2xN np matrix. pts whose boundary is bndry |
Definition at line 203 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.optimize_position | ( | cx, | |
| cy, | |||
| rad, | |||
| curr_pos, | |||
| eq_pos, | |||
| pts, | |||
| bndry, | |||
| start_angle, | |||
| end_angle, | |||
| buffer, | |||
| tangential_force | |||
| ) |
Definition at line 86 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.point_contained | ( | mx, | |
| my, | |||
| ma, | |||
| cx, | |||
| cy, | |||
| rad, | |||
| pts, | |||
| start_angle, | |||
| end_angle, | |||
| buffer | |||
| ) |
mx,my,ma - motion of the robot cx,cy - axis of mechanism in robot frame.
start_angle,end_angle - between 0 and 2*pi
Definition at line 68 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.polar_to_cartesian | ( | r, | |
| theta | |||
| ) |
| r | - 1D np array |
| theta | - 1D np array (RADIANS) |
Definition at line 59 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.pts_within_dist | ( | p, | |
| pts, | |||
| min_dist, | |||
| max_dist | |||
| ) |
Definition at line 294 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.segway_motion_repulse | ( | curr_pos_tl, | |
| eq_pt_tl, | |||
| bndry, | |||
| all_pts | |||
| ) |
apologies for the poor name.
computes the translation of the torso frame that move the eq pt away from closest boundary and rotate such that local x axis is perp to mechanism returns 2x1 np matrix, angle
Definition at line 305 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.tlRts | ( | vecs_ts, | |
| a | |||
| ) |
rotate vector from torso local to torso start frame.
| vecs_tl | - 3xN np matrix in tl coord frame. |
| a | - motion of the segway (in the ms frame) |
Definition at line 287 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.tlTts | ( | pts_ts, | |
| x, | |||
| y, | |||
| a | |||
| ) |
transform from torso start to torso local frame.
| pts | - 3xN np matrix in ts coord frame. |
| x,y,a | - motion of the segway (in the ms frame) |
Definition at line 255 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.tsRtl | ( | vecs_tl, | |
| a | |||
| ) |
rotate vector from torso local to torso start frame.
| vecs_tl | - 3xN np matrix in tl coord frame. |
| a | - motion of the segway (in the ms frame) |
Definition at line 277 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.tsTtl | ( | pts_tl, | |
| x, | |||
| y, | |||
| a | |||
| ) |
transform from torso local to torso start frame.
| pts | - 3xN np matrix in tl coord frame. |
| x,y,a | - motion of the segway (in the ms frame) |
Definition at line 266 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.vec_from_boundary | ( | curr_pos, | |
| bndry | |||
| ) |
return 2x1 vector from closest boundary point
Definition at line 192 of file segway_motion_calc.py.
| def 2010_icra_epc_pull.segway_motion_calc.visualize_boundary | ( | ) |
Definition at line 230 of file segway_motion_calc.py.
| tuple 2010_icra_epc_pull::segway_motion_calc::bpts = compute_boundary(pts) |
Definition at line 358 of file segway_motion_calc.py.
| tuple 2010_icra_epc_pull::segway_motion_calc::d = ut.load_pickle('../../pkls/workspace_dict_2009Sep05_200116.pkl') |
Definition at line 349 of file segway_motion_calc.py.
| tuple 2010_icra_epc_pull::segway_motion_calc::k = d.keys() |
Definition at line 351 of file segway_motion_calc.py.
Definition at line 352 of file segway_motion_calc.py.
Definition at line 353 of file segway_motion_calc.py.
| float 2010_icra_epc_pull::segway_motion_calc::rad = 0.4 |
Definition at line 360 of file segway_motion_calc.py.
| float 2010_icra_epc_pull::segway_motion_calc::z = 0.23 |
Definition at line 350 of file segway_motion_calc.py.