Functions | Variables
capsule-approximation Namespace Reference

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 = 5e-3
 
int EPSILON = 1e-8
 
 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
 
string urdf_filename = pinocchio_model_dir + "models/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf"
 

Function Documentation

◆ approximate_mesh()

def capsule-approximation.approximate_mesh (   filename,
  lMg 
)

Definition at line 69 of file capsule-approximation.py.

◆ capsule_approximation()

def capsule-approximation.capsule_approximation (   vertices)

Definition at line 50 of file capsule-approximation.py.

◆ capsule_volume()

def capsule-approximation.capsule_volume (   a,
  b,
  r 
)

Definition at line 22 of file capsule-approximation.py.

◆ distance_points_segment()

def capsule-approximation.distance_points_segment (   p,
  a,
  b 
)

Definition at line 26 of file capsule-approximation.py.

◆ parse_urdf()

def capsule-approximation.parse_urdf (   infile,
  outfile 
)

Definition at line 77 of file capsule-approximation.py.

◆ pca_approximation()

def capsule-approximation.pca_approximation (   vertices)

Definition at line 36 of file capsule-approximation.py.

Variable Documentation

◆ CONSTRAINT_INFLATION_RATIO

int capsule-approximation.CONSTRAINT_INFLATION_RATIO = 5e-3

Definition at line 19 of file capsule-approximation.py.

◆ EPSILON

int capsule-approximation.EPSILON = 1e-8

Definition at line 18 of file capsule-approximation.py.

◆ pinocchio_model_dir

capsule-approximation.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

Definition at line 152 of file capsule-approximation.py.

◆ urdf_filename

string capsule-approximation.urdf_filename = pinocchio_model_dir + "models/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf"

Definition at line 153 of file capsule-approximation.py.



pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:34