pykdl_utils.joint_kinematics.JointKinematicsBase Class Reference

Inheritance diagram for pykdl_utils.joint_kinematics.JointKinematicsBase:

List of all members.

Public Member Functions
def	cart_inertia
	Returns the cartesian space mass matrix at the end_link for the given joint angles.
def	end_effector_force
	Returns the current effective end effector force.
def	forward
	Perform forward kinematics on the current joint angles.
def	inertia
	Returns the joint space mass matrix at the end_link for the given joint angles.
def	jacobian
	Returns the Jacobian matrix at the end_link from the current joint angles.
def	wrap_angles
	Returns joint angles for continuous joints to a range [0, 2*PI)
Public Attributes
	joint_types

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Detailed Description

Definition at line 53 of file joint_kinematics.py.

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Member Function Documentation

def pykdl_utils.joint_kinematics.JointKinematicsBase.cart_inertia	(		self,
			q = None
	)

Returns the cartesian space mass matrix at the end_link for the given joint angles.

Parameters:

q	List of joint angles.

Returns:

6x6 np.mat Cartesian inertia matrix or None if the joint angles are not filled.

Reimplemented from pykdl_utils.kdl_kinematics.KDLKinematics.

Definition at line 94 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsBase.end_effector_force

(

self

)

Returns the current effective end effector force.

Definition at line 111 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsBase.forward	(		self,
			q = None,
			end_link = None,
			base_link = None
	)

Perform forward kinematics on the current joint angles.

Parameters:

q	List of joint angles for the full kinematic chain. If None, the current joint angles are used.
end_link	Name of the link the pose should be obtained for.
base_link	Name of the root link frame the end_link should be found in.

Returns:

4x4 numpy.mat homogeneous transformation or None if the joint angles are not filled.

Reimplemented from pykdl_utils.kdl_kinematics.KDLKinematics.

Definition at line 61 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsBase.inertia	(		self,
			q = None
	)

Returns the joint space mass matrix at the end_link for the given joint angles.

Parameters:

q	List of joint angles.

Returns:

NxN np.mat Inertia matrix or None if the joint angles are not filled.

Reimplemented from pykdl_utils.kdl_kinematics.KDLKinematics.

Definition at line 83 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsBase.jacobian	(		self,
			q = None
	)

Returns the Jacobian matrix at the end_link from the current joint angles.

Parameters:

q	List of joint angles. If None, the current joint angles are used.

Returns:

6xN np.mat Jacobian or None if the joint angles are not filled.

Definition at line 72 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsBase.wrap_angles	(		self,
			q
	)

Returns joint angles for continuous joints to a range [0, 2*PI)

Parameters:

q	List of joint angles.

Returns:

np.array of wrapped joint angles.

Definition at line 105 of file joint_kinematics.py.

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Member Data Documentation

pykdl_utils::joint_kinematics.JointKinematicsBase::joint_types

Reimplemented from pykdl_utils.kdl_kinematics.KDLKinematics.

Definition at line 105 of file joint_kinematics.py.

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

• joint_kinematics.py