Functions
def	create_globalTDict
def	createMecanumTransform
def	createThok0Transform
def	createTorsoTransform
def	createUtm0Transform
def	globalTmecanum
def	globalTthok0
def	globalTtorso
def	globalTutm0
def	globalTutmcam0
	utmcam0 coord frame to global
def	mecanumTglobal
def	thok0Tglobal
def	torsoTglobal
def	utm0Tglobal
def	utmcam0Tglobal
	global to utmcam0 coord frame.
def	utmcam0Tglobal_mat
	transformation matrix to go from global to utmcam0 coord frame.
Variables
dictionary	_globalT

Function Documentation

def hrl_cody_arms.coord_frames.create_globalTDict ( )

call the create functions for all the coord frames

Definition at line 45 of file coord_frames.py.

def hrl_cody_arms.coord_frames.createMecanumTransform ( )

mecanum frame -> global frame (ignores the zenither)

Definition at line 78 of file coord_frames.py.

def hrl_cody_arms.coord_frames.createThok0Transform ( )

thok0 frame -> global frame

Definition at line 61 of file coord_frames.py.

def hrl_cody_arms.coord_frames.createTorsoTransform ( )

torso frame -> global frame

Definition at line 53 of file coord_frames.py.

def hrl_cody_arms.coord_frames.createUtm0Transform ( )

utm0 frame -> global frame

Definition at line 69 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTmecanum	(	p,
		floating_vector = `False`
	)

3x1 vector from mecanum to global.

Definition at line 89 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTthok0	(	p,
		floating_vector = `False`
	)

3x1 vector from thok0 to global.

Definition at line 129 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTtorso	(	p,
		floating_vector = `False`
	)

3x1 vector from torso to global.

Definition at line 109 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTutm0	(	p,
		floating_vector = `False`
	)

3x1 vector from utm0 to global.

Definition at line 149 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTutmcam0	(	p,
		ang,
		floating_vector = `False`
	)

utmcam0 coord frame to global

Parameters:

p	- 3xN np matrix.
ang	- servo angle (in RADIANS)
floating_vector	- interpretation of p. False -> position vector. True -> floating vector (rotation only).

Returns:: 3xN np matrix in the new coord frame.

Definition at line 217 of file coord_frames.py.

def hrl_cody_arms.coord_frames.mecanumTglobal	(	p,
		floating_vector = `False`
	)

3x1 vector from global to mecanum.

Definition at line 99 of file coord_frames.py.

def hrl_cody_arms.coord_frames.thok0Tglobal	(	p,
		floating_vector = `False`
	)

3x1 vector from global to thok0.

Definition at line 139 of file coord_frames.py.

def hrl_cody_arms.coord_frames.torsoTglobal	(	p,
		floating_vector = `False`
	)

3x1 vector from global to torso.

Definition at line 119 of file coord_frames.py.

def hrl_cody_arms.coord_frames.utm0Tglobal	(	p,
		floating_vector = `False`
	)

3x1 vector from global to utm0.

Definition at line 159 of file coord_frames.py.

def hrl_cody_arms.coord_frames.utmcam0Tglobal	(	p,
		ang,
		floating_vector = `False`
	)

global to utmcam0 coord frame.

Parameters:

p	- 3xN np matrix.
ang	- servo angle (in RADIANS)
floating_vector	- interpretation of p. False -> position vector. True -> floating vector (rotation only).

Returns:: 3xN np matrix in the new coord frame.

Definition at line 201 of file coord_frames.py.

def hrl_cody_arms.coord_frames.utmcam0Tglobal_mat ( ang )

transformation matrix to go from global to utmcam0 coord frame.

Parameters:

ang	- servo angle (in RADIANS)

Returns:: 4x4 transformation matrix.

Definition at line 172 of file coord_frames.py.

Variable Documentation

dictionary hrl_cody_arms::coord_frames::_globalT

Initial value:

00001 {
00002     'torso' : None,
00003     'thok0' : None,
00004     'utm0' : None,
00005     'utmcam0': None,
00006     'mecanum': None
00007 }

Definition at line 37 of file coord_frames.py.

Functions

Variables

Function Documentation

Variable Documentation