Inheritance diagram for gtsam.examples.PlanarManipulatorExample.ThreeLinkArm:
Public Member Functions | |
| def | __init__ (self) |
| def | con (self, q) |
| def | fk (self, q) |
| def | ik (self, sTt_desired, e=1e-9) |
| def | jacobian (self, q) |
| def | manipulator_jacobian (self, q) |
| def | plot (self, fignum, q) |
| def | poe (self, q) |
 Public Member Functions inherited from object | |
| template<typename T > | |
| T | cast () const & |
| template<typename T > | |
| T | cast ()&& |
| template<> | |
| void | cast () const & |
| template<> | |
| void | cast ()&& |
| object ()=default | |
| object (const object &o) | |
| Copy constructor; always increases the reference count. More... | |
| object (object &&other) noexcept | |
Move constructor; steals the object from other and preserves its reference count. More... | |
| object (handle h, borrowed_t) | |
| object (handle h, stolen_t) | |
| object & | operator= (const object &other) |
| object & | operator= (object &&other) noexcept |
| PYBIND11_DEPRECATED ("Use reinterpret_borrow<object>() or reinterpret_steal<object>()") object(handle h | |
| handle | release () |
| ~object () | |
Destructor; automatically calls handle::dec_ref() More... | |
| Public Member Functions inherited from handle | |
| template<typename T > | |
| T | cast () const |
| template<> | |
| void | cast () const |
| bool | check () const |
| const handle & | dec_ref () const & |
| handle ()=default | |
The default constructor creates a handle with a nullptr-valued pointer. More... | |
| handle (PyObject *ptr) | |
Creates a handle from the given raw Python object pointer. More... | |
| const handle & | inc_ref () const & |
| operator bool () const | |
Return true when the handle wraps a valid Python object. More... | |
| bool | operator!= (const handle &h) const |
| bool | operator== (const handle &h) const |
| PyObject * | ptr () const |
Return the underlying PyObject * pointer. More... | |
| PyObject *& | ptr () |
Public Attributes | |
| L1 | |
| L2 | |
| L3 | |
| sXt0 | |
| xi1 | |
| xi2 | |
| xi3 | |
| Public Attributes inherited from object | |
| bool | is_borrowed: handle(h) { if (is_borrowed) inc_ref() |
Additional Inherited Members | |
| Protected Attributes inherited from handle | |
| PyObject * | m_ptr = nullptr |
Detailed Description
Three-link arm class.
Definition at line 60 of file PlanarManipulatorExample.py.
Constructor & Destructor Documentation
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.__init__ | ( | self | ) |
Definition at line 63 of file PlanarManipulatorExample.py.
Member Function Documentation
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.con | ( | self, | |
| q | |||
| ) |
Forward kinematics, conjugation form.
Takes numpy array of joint angles, in radians.
Definition at line 108 of file PlanarManipulatorExample.py.
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.fk | ( | self, | |
| q | |||
| ) |
Forward kinematics.
Takes numpy array of joint angles, in radians.
Definition at line 72 of file PlanarManipulatorExample.py.
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.ik | ( | self, | |
| sTt_desired, | |||
e = 1e-9 |
|||
| ) |
Inverse kinematics.
Takes desired Pose2 of tool T with respect to base S.
Optional: mu, gradient descent rate; e: error norm threshold
Definition at line 121 of file PlanarManipulatorExample.py.
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.jacobian | ( | self, | |
| q | |||
| ) |
Calculate manipulator Jacobian.
Takes numpy array of joint angles, in radians.
Definition at line 85 of file PlanarManipulatorExample.py.
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.manipulator_jacobian | ( | self, | |
| q | |||
| ) |
Calculate manipulator Jacobian.
Takes numpy array of joint angles, in radians.
Returns the manipulator Jacobian of differential twists. When multiplied with
a vector of joint velocities, will yield a single differential twist which is
the spatial velocity d(sTt)/dt * inv(sTt) of the end-effector pose.
Just like always, differential twists can be hatted and multiplied with spatial
coordinates of a point to give the spatial velocity of the point.
Definition at line 137 of file PlanarManipulatorExample.py.
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.plot | ( | self, | |
| fignum, | |||
| q | |||
| ) |
Plot arm.
Takes figure number, and numpy array of joint angles, in radians.
Definition at line 162 of file PlanarManipulatorExample.py.
| def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.poe | ( | self, | |
| q | |||
| ) |
Forward kinematics.
Takes numpy array of joint angles, in radians.
Definition at line 99 of file PlanarManipulatorExample.py.
Member Data Documentation
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L1 |
Definition at line 64 of file PlanarManipulatorExample.py.
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L2 |
Definition at line 65 of file PlanarManipulatorExample.py.
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L3 |
Definition at line 66 of file PlanarManipulatorExample.py.
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.sXt0 |
Definition at line 70 of file PlanarManipulatorExample.py.
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi1 |
Definition at line 67 of file PlanarManipulatorExample.py.
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi2 |
Definition at line 68 of file PlanarManipulatorExample.py.
| gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi3 |
Definition at line 69 of file PlanarManipulatorExample.py.
The documentation for this class was generated from the following file: