hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics Class Reference

Inheritance diagram for hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics:

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_kdl
def	FK_vanilla
def	get_joint_limits
def	IK_kdl
def	IK_vanilla
def	jacobian
	compute Jacobian at point pos.
def	Jacobian
	compute Jacobian at point pos.
def	kdl_angles_to_meka
def	meka_angles_to_kdl
def	plot_arm
def	setup_kdl_chains
def	within_joint_limits
Public Attributes
	arm_type
	joint_lim_dict
	kdl_chains
	q_guess_dict

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Detailed Description

Definition at line 47 of file cody_arm_kinematics.py.

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Constructor & Destructor Documentation

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.__init__	(		self,
			arm
	)

Definition at line 49 of file cody_arm_kinematics.py.

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Member Function Documentation

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.clamp_to_joint_limits	(		self,
			q,
			delta_list = [0.
	)

clamp joint angles to their physical limits.

Parameters:

q	- list of 7 joint angles. The joint limits for IK are larger that the physical limits.

Definition at line 253 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.create_left_chain	(		self,
			end_effector_length
	)

Definition at line 122 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.create_right_chain	(		self,
			end_effector_length
	)

Definition at line 111 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.create_solvers	(		self,
			ch
	)

Definition at line 133 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.FK_kdl	(		self,
			q,
			link_number
	)

Definition at line 161 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.FK_vanilla	(		self,
			q,
			link_number = 7
	)

Definition at line 186 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.get_joint_limits

(

self

)

Definition at line 265 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.IK_kdl	(		self,
			frame,
			q_init
	)

Definition at line 173 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.IK_vanilla	(		self,
			p,
			rot,
			q_guess = None
	)

Definition at line 235 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.jacobian	(		self,
			q,
			pos = None
	)

compute Jacobian at point pos.

p is in the ground coord frame. this is a wrapper to try and not break things after changes to PR2 classes

Definition at line 201 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.Jacobian	(		self,
			q,
			pos = None
	)

compute Jacobian at point pos.

p is in the ground coord frame.

Definition at line 206 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.kdl_angles_to_meka	(		self,
			q_jnt_arr
	)

Definition at line 81 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.meka_angles_to_kdl	(		self,
			q_list
	)

Definition at line 96 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.plot_arm	(		self,
			q,
			color = 'b',
			alpha = 1.
	)

Definition at line 272 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.setup_kdl_chains	(		self,
			arm,
			end_effector_length
	)

Definition at line 140 of file cody_arm_kinematics.py.

def hrl_cody_arms.cody_arm_kinematics.CodyArmKinematics.within_joint_limits	(		self,
			q,
			delta_list = [0.
	)

Definition at line 259 of file cody_arm_kinematics.py.

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Member Data Documentation

hrl_cody_arms::cody_arm_kinematics.CodyArmKinematics::arm_type

Definition at line 49 of file cody_arm_kinematics.py.

hrl_cody_arms::cody_arm_kinematics.CodyArmKinematics::joint_lim_dict

Definition at line 49 of file cody_arm_kinematics.py.

hrl_cody_arms::cody_arm_kinematics.CodyArmKinematics::kdl_chains

Definition at line 140 of file cody_arm_kinematics.py.

hrl_cody_arms::cody_arm_kinematics.CodyArmKinematics::q_guess_dict

Definition at line 49 of file cody_arm_kinematics.py.

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

• cody_arm_kinematics.py