segway_motion_calc.py File Reference

Go to the source code of this file.

Namespaces
namespace	2010_icra_epc_pull::segway_motion_calc
Functions
def	2010_icra_epc_pull::segway_motion_calc.cartesian_to_polar
def	2010_icra_epc_pull::segway_motion_calc.close_to_boundary
def	2010_icra_epc_pull::segway_motion_calc.compute_boundary
	compute the boundary of the 2D points.
def	2010_icra_epc_pull::segway_motion_calc.dist_from_boundary
	return distance from boundary.
def	2010_icra_epc_pull::segway_motion_calc.optimize_position
def	2010_icra_epc_pull::segway_motion_calc.point_contained
	mx,my,ma - motion of the robot cx,cy - axis of mechanism in robot frame.
def	2010_icra_epc_pull::segway_motion_calc.polar_to_cartesian
def	2010_icra_epc_pull::segway_motion_calc.pts_within_dist
def	2010_icra_epc_pull::segway_motion_calc.segway_motion_repulse
	apologies for the poor name.
def	2010_icra_epc_pull::segway_motion_calc.tlRts
	rotate vector from torso local to torso start frame.
def	2010_icra_epc_pull::segway_motion_calc.tlTts
	transform from torso start to torso local frame.
def	2010_icra_epc_pull::segway_motion_calc.tsRtl
	rotate vector from torso local to torso start frame.
def	2010_icra_epc_pull::segway_motion_calc.tsTtl
	transform from torso local to torso start frame.
def	2010_icra_epc_pull::segway_motion_calc.vec_from_boundary
	return 2x1 vector from closest boundary point
def	2010_icra_epc_pull::segway_motion_calc.visualize_boundary
Variables
tuple	2010_icra_epc_pull::segway_motion_calc.bpts = compute_boundary(pts)
tuple	2010_icra_epc_pull::segway_motion_calc.d = ut.load_pickle('../../pkls/workspace_dict_2009Sep05_200116.pkl')
tuple	2010_icra_epc_pull::segway_motion_calc.k = d.keys()
tuple	2010_icra_epc_pull::segway_motion_calc.k_idx = np.argmin(np.abs(np.array(k)-z))
list	2010_icra_epc_pull::segway_motion_calc.pts = d[k[k_idx]]
float	2010_icra_epc_pull::segway_motion_calc.rad = 0.4
float	2010_icra_epc_pull::segway_motion_calc.z = 0.23