Public Member Functions | Public Attributes | List of all members
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm Class Reference
Inheritance diagram for gtsam.examples.PlanarManipulatorExample.ThreeLinkArm:
Inheritance graph
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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<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)
 
objectoperator= (const object &other)
 
objectoperator= (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 handledec_ref () const &
 
 handle ()=default
 The default constructor creates a handle with a nullptr-valued pointer. More...
 
template<typename T , detail::enable_if_t< detail::is_pyobj_ptr_or_nullptr_t< T >::value, int > = 0>
 handle (T ptr)
 
template<typename T , detail::enable_if_t< detail::all_of< detail::none_of< std::is_base_of< handle, T >, detail::is_pyobj_ptr_or_nullptr_t< T >>, std::is_convertible< T, PyObject *>>::value, int > = 0>
 handle (T &obj)
 Enable implicit conversion through T::operator PyObject *(). More...
 
const handleinc_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

- Static Public Member Functions inherited from handle
static std::size_t inc_ref_counter ()
 
- 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

◆ __init__()

def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.__init__ (   self)

Definition at line 63 of file PlanarManipulatorExample.py.

Member Function Documentation

◆ con()

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.

◆ fk()

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.

◆ ik()

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.

◆ jacobian()

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.

◆ manipulator_jacobian()

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.

◆ plot()

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.

◆ poe()

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

◆ L1

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L1

Definition at line 64 of file PlanarManipulatorExample.py.

◆ L2

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L2

Definition at line 65 of file PlanarManipulatorExample.py.

◆ L3

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L3

Definition at line 66 of file PlanarManipulatorExample.py.

◆ sXt0

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.sXt0

Definition at line 70 of file PlanarManipulatorExample.py.

◆ xi1

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi1

Definition at line 67 of file PlanarManipulatorExample.py.

◆ xi2

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi2

Definition at line 68 of file PlanarManipulatorExample.py.

◆ xi3

gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi3

Definition at line 69 of file PlanarManipulatorExample.py.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:15