calibration_estimation.joint_chain.JointChain Class Reference

Public Member Functions
def	__init__ (self, config)
def	calc_free (self, free_config)
def	deflate (self)
def	fk (self, chain_state, link_num=-1)
def	get_length (self)
def	inflate (self, param_vec)
def	params_to_config (self, param_vec)

Public Attributes
	root
	tip

Private Attributes
	_active
	_axis
	_cov_dict
	_gearing
	_joints
	_M
	_transforms

Detailed Description

This represents a chain of actuated joints
parameters = [gearing*num_of_joints]

Definition at line 37 of file joint_chain.py.

Constructor & Destructor Documentation

def calibration_estimation.joint_chain.JointChain.__init__	(		self,
			config
	)

Definition at line 42 of file joint_chain.py.

Member Function Documentation

def calibration_estimation.joint_chain.JointChain.calc_free	(		self,
			free_config
	)

Definition at line 56 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.deflate

(

self

)

Definition at line 73 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.fk	(		self,
			chain_state,
			link_num = -1
	)

Definition at line 83 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.get_length

(

self

)

Definition at line 77 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.inflate	(		self,
			param_vec
	)

Definition at line 69 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.params_to_config	(		self,
			param_vec
	)

Definition at line 59 of file joint_chain.py.

Member Data Documentation

calibration_estimation.joint_chain.JointChain._active

private

Definition at line 46 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._axis

private

Definition at line 52 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._cov_dict

private

Definition at line 53 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._gearing

private

Definition at line 54 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._joints

private

Definition at line 45 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._M

private

Definition at line 47 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._transforms

private

Definition at line 51 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain.root

Definition at line 43 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain.tip

Definition at line 44 of file joint_chain.py.

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

• joint_chain.py