arms.M3HrlRobot Class Reference

List of all members.

Public Member Functions
def	__init__
def	clamp_to_joint_limits
	clamp joint angles to their physical limits.
def	create_left_chain
def	create_right_chain
def	create_solvers
def	FK
def	FK_all
def	FK_kdl
def	FK_rot
def	IK
	Inverse Kinematics using KDL.
def	IK_kdl
def	Jac
def	Jac_kdl
def	Jacobian
	compute Jacobian at point pos.
def	kdl_angles_to_meka
def	meka_angles_to_kdl
def	setup_kdl_mekabot
def	within_joint_limits
Public Attributes
	cody_kdl
	joint_lim_dict
	q_guess_dict_left
	q_guess_dict_right

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Detailed Description

Definition at line 61 of file arms.py.

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Constructor & Destructor Documentation

def arms.M3HrlRobot.__init__	(		self,
			end_effector_length
	)

Definition at line 62 of file arms.py.

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Member Function Documentation

def arms.M3HrlRobot.clamp_to_joint_limits	(		self,
			arm,
			q,
			delta_list = [0.
	)

clamp joint angles to their physical limits.

Parameters:

arm	- 'left_arm' or 'right_arm'
q	- list of 7 joint angles. The joint limits for IK are larger that the physical limits.

Definition at line 314 of file arms.py.

def arms.M3HrlRobot.create_left_chain	(		self,
			end_effector_length
	)

Definition at line 125 of file arms.py.

def arms.M3HrlRobot.create_right_chain	(		self,
			end_effector_length
	)

Definition at line 114 of file arms.py.

def arms.M3HrlRobot.create_solvers	(		self,
			ch
	)

Definition at line 136 of file arms.py.

def arms.M3HrlRobot.FK	(		self,
			arm,
			q,
			link_number = 7
	)

Definition at line 229 of file arms.py.

def arms.M3HrlRobot.FK_all	(		self,
			arm,
			q,
			link_number = 7
	)

Definition at line 233 of file arms.py.

def arms.M3HrlRobot.FK_kdl	(		self,
			arm,
			q,
			link_number
	)

Definition at line 171 of file arms.py.

def arms.M3HrlRobot.FK_rot	(		self,
			arm,
			q,
			link_number = 7
	)

Definition at line 221 of file arms.py.

def arms.M3HrlRobot.IK	(		self,
			arm,
			p,
			rot,
			q_guess = None
	)

Inverse Kinematics using KDL.

Parameters:

p	- 3X1 numpy matrix.
rot	- 3X3 numpy matrix. It transforms a vector in the end effector frame to the torso frame. (or it is the orientation of the end effector wrt the torso)

Returns:

list of 7 joint angles, or None if IK soln not found.

Definition at line 278 of file arms.py.

def arms.M3HrlRobot.IK_kdl	(		self,
			arm,
			frame,
			q_init
	)

IK, returns jointArray (None if impossible)
    frame - desired frame of the end effector
    q_init - initial guess for the joint angles. (JntArray)

Definition at line 199 of file arms.py.

def arms.M3HrlRobot.Jac	(		self,
			arm,
			q
	)

q - list of 7 joint angles (meka axes) in RADIANS.
    arm - 'right_arm' or 'left_arm'
    returns 6x7 numpy matrix.

Definition at line 242 of file arms.py.

def arms.M3HrlRobot.Jac_kdl	(		self,
			arm,
			q
	)

returns the Jacobian, given the joint angles

Definition at line 183 of file arms.py.

def arms.M3HrlRobot.Jacobian	(		self,
			arm,
			q,
			pos
	)

compute Jacobian at point pos.

p is in the torso_lift_link coord frame.

Definition at line 254 of file arms.py.

def arms.M3HrlRobot.kdl_angles_to_meka	(		self,
			arm,
			q_jnt_arr
	)

Definition at line 81 of file arms.py.

def arms.M3HrlRobot.meka_angles_to_kdl	(		self,
			arm,
			q_list
	)

Definition at line 97 of file arms.py.

def arms.M3HrlRobot.setup_kdl_mekabot	(		self,
			end_effector_length
	)

Definition at line 143 of file arms.py.

def arms.M3HrlRobot.within_joint_limits	(		self,
			arm,
			q,
			delta_list = [0.
	)

Definition at line 322 of file arms.py.

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Member Data Documentation

arms.M3HrlRobot::cody_kdl

Definition at line 143 of file arms.py.

arms.M3HrlRobot::joint_lim_dict

Definition at line 62 of file arms.py.

arms.M3HrlRobot::q_guess_dict_left

Definition at line 62 of file arms.py.

arms.M3HrlRobot::q_guess_dict_right

Definition at line 62 of file arms.py.

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

• arms.py