Functions | |
| def | approximate_mesh (filename, lMg) |
| def | capsule_approximation (vertices) |
| def | capsule_volume (a, b, r) |
| def | distance_points_segment (p, a, b) |
| def | parse_urdf (infile, outfile) |
| def | pca_approximation (vertices) |
Variables | |
| int | CONSTRAINT_INFLATION_RATIO = 5 |
| int | EPSILON = 1 |
| pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") | |
| string | urdf_filename = pinocchio_model_dir+"models/others/robots/ur_description/urdf/ur5_gripper.urdf" |
| def capsule-approximation.approximate_mesh | ( | filename, | |
| lMg | |||
| ) |
Definition at line 69 of file capsule-approximation.py.
| def capsule-approximation.capsule_approximation | ( | vertices | ) |
Definition at line 50 of file capsule-approximation.py.
| def capsule-approximation.capsule_volume | ( | a, | |
| b, | |||
| r | |||
| ) |
Definition at line 22 of file capsule-approximation.py.
| def capsule-approximation.distance_points_segment | ( | p, | |
| a, | |||
| b | |||
| ) |
Definition at line 26 of file capsule-approximation.py.
| def capsule-approximation.parse_urdf | ( | infile, | |
| outfile | |||
| ) |
Definition at line 77 of file capsule-approximation.py.
| def capsule-approximation.pca_approximation | ( | vertices | ) |
Definition at line 36 of file capsule-approximation.py.
| int capsule-approximation.CONSTRAINT_INFLATION_RATIO = 5 |
Definition at line 19 of file capsule-approximation.py.
| int capsule-approximation.EPSILON = 1 |
Definition at line 18 of file capsule-approximation.py.
| capsule-approximation.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") |
Definition at line 152 of file capsule-approximation.py.
| string capsule-approximation.urdf_filename = pinocchio_model_dir+"models/others/robots/ur_description/urdf/ur5_gripper.urdf" |
Definition at line 153 of file capsule-approximation.py.