hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl Class Reference

using KDL for pr2 arm kinematics. More...

List of all members.

Public Member Functions
def	__init__
def	close_to_singularity
def	create_right_chain
def	create_solvers
def	FK_all
	returns point in torso lift link.
def	FK_kdl
def	Jac_kdl
def	Jacobian
	compute Jacobian at point pos.
def	kdl_to_pr2
def	pr2_to_kdl
def	set_tooltip
	define tooltip as a 3x1 np matrix in the wrist coord frame.
def	within_joint_limits
Public Attributes
	right_arm_base_offset_from_torso_lift_link
	right_chain
	right_fk
	right_ik_p
	right_ik_v
	right_jac
	right_tooltip

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Detailed Description

using KDL for pr2 arm kinematics.

Definition at line 408 of file pr2_arms.py.

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Constructor & Destructor Documentation

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.__init__

(

self

)

Definition at line 409 of file pr2_arms.py.

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Member Function Documentation

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.close_to_singularity	(		self,
			arm,
			q
	)

Definition at line 559 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.create_right_chain

(

self

)

Definition at line 418 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.create_solvers	(		self,
			ch
	)

Definition at line 437 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.FK_all	(		self,
			arm,
			q,
			link_number = 7
	)

returns point in torso lift link.

Definition at line 468 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.FK_kdl	(		self,
			arm,
			q,
			link_number
	)

Definition at line 451 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.Jac_kdl	(		self,
			arm,
			q
	)

Definition at line 507 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.Jacobian	(		self,
			arm,
			q,
			pos
	)

compute Jacobian at point pos.

p is in the torso_lift_link coord frame.

Definition at line 538 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.kdl_to_pr2	(		self,
			q
	)

Definition at line 484 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.pr2_to_kdl	(		self,
			q
	)

Definition at line 498 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.set_tooltip	(		self,
			arm,
			p
	)

define tooltip as a 3x1 np matrix in the wrist coord frame.

Definition at line 445 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl.within_joint_limits	(		self,
			arm,
			q,
			delta_list = [0.
	)

Definition at line 562 of file pr2_arms.py.

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Member Data Documentation

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_arm_base_offset_from_torso_lift_link

Definition at line 418 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_chain

Definition at line 409 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_fk

Definition at line 409 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_ik_p

Definition at line 409 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_ik_v

Definition at line 409 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_jac

Definition at line 409 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms_kdl::right_tooltip

Definition at line 409 of file pr2_arms.py.

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

• pr2_arms.py