Classes
class	TestPose2SLAMExample

class	ThreeLinkArm

Functions
def	compose (poses)

def	delta (g0, g1)

def	run_example ()

def	trajectory (g0, g1, N=20)

def	vector3 (x, y, z)

def	vee (M)

Variables
def	Q0 = vector3(0, 0, 0)

	Q1 = np.radians(vector3(-30, -45, -90))

	Q2 = np.radians(vector3(-90, 90, 0))

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

Kinematics of three-link manipulator with GTSAM poses and product of exponential maps.
Author: Frank Dellaert

Function Documentation

◆ compose()

def gtsam.examples.PlanarManipulatorExample.compose ( poses )

Compose all Pose2 transforms given as arguments from left to right.

Definition at line 35 of file PlanarManipulatorExample.py.

◆ delta()

def gtsam.examples.PlanarManipulatorExample.delta	(	g0,
		g1
	)

Difference between x,y,,theta components of SE(2) poses.

Definition at line 45 of file PlanarManipulatorExample.py.

◆ run_example()

def gtsam.examples.PlanarManipulatorExample.run_example ( )

Use trajectory interpolation and then trajectory tracking a la Murray
    to move a 3-link arm on a straight line.

Definition at line 294 of file PlanarManipulatorExample.py.

◆ trajectory()

def gtsam.examples.PlanarManipulatorExample.trajectory	(	g0,
		g1,
		N = `20`
	)

Create an interpolated trajectory in SE(2), treating x,y, and theta separately.
    g0 and g1 are the initial and final pose, respectively.
    N is the number of *intervals*
    Returns N+1 poses

Definition at line 50 of file PlanarManipulatorExample.py.