Public Member Functions | |
def | __init__ |
def | fk |
Forward Kinematics. | |
def | ik |
Inverse kinematics. | |
Public Attributes | |
fk_info_resp | |
ik_frame | |
ik_info_resp | |
ik_joint_names | |
joint_names | |
tflistener | |
tool_frame | |
Private Attributes | |
_fk | |
_fk_info | |
_ik | |
_ik_info |
Definition at line 9 of file pr2_kinematics.py.
def hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics.__init__ | ( | self, | |
arm, | |||
listener | |||
) |
Definition at line 11 of file pr2_kinematics.py.
def hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics.fk | ( | self, | |
joint_poses_mat, | |||
frame = 'torso_lift_link' , |
|||
sol_link = None , |
|||
use_tool_frame = True |
|||
) |
Forward Kinematics.
joint_poses_mat | nx1 matrix of joint positions |
frame | frame to give solution in |
sol_link | link to solve FK for |
use_tool_frame | FK doesn't account for length of tool frame (PR2 gripper), if sol_link is the wrist link then will return the gripper's FK. |
Definition at line 110 of file pr2_kinematics.py.
def hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics.ik | ( | self, | |
cart_pose, | |||
frame_of_pose = 'torso_lift_link' , |
|||
seed = None |
|||
) |
Inverse kinematics.
cart_pose | a 4x4 SE(3) pose |
frame_of_pose | frame cart_pose is given in, if None we assume that self.tool_frame is being used |
seed | starting solution for IK solver (list of floats or column np.matrix of floats) |
Definition at line 50 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.
Definition at line 11 of file pr2_kinematics.py.