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def | __init__ (self) |
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def | con (self, q) |
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def | fk (self, q) |
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def | ik (self, sTt_desired, e=1e-9) |
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def | jacobian (self, q) |
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def | manipulator_jacobian (self, q) |
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def | plot (self, fignum, q) |
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def | poe (self, q) |
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template<typename T > |
T | cast () && |
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template<typename T > |
T | cast () const & |
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template<> |
void | cast () const & |
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| object ()=default |
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| object (const object &o) |
| Copy constructor; always increases the reference count. More...
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| object (handle h, borrowed_t) |
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| object (handle h, stolen_t) |
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| object (object &&other) noexcept |
| Move constructor; steals the object from other and preserves its reference count. More...
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object & | operator= (const object &other) |
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object & | operator= (object &&other) noexcept |
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| PYBIND11_DEPRECATED ("Use reinterpret_borrow<object>() or reinterpret_steal<object>()") object(handle h |
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handle | release () |
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| ~object () |
| Destructor; automatically calls handle::dec_ref() More...
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Public Member Functions inherited from handle |
template<typename T > |
T | cast () const |
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template<> |
void | cast () const |
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bool | check () const |
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const handle & | dec_ref () const & |
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| handle ()=default |
| The default constructor creates a handle with a nullptr -valued pointer. More...
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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...
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template<typename T , detail::enable_if_t< detail::is_pyobj_ptr_or_nullptr_t< T >::value, int > = 0> |
| handle (T ptr) |
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const handle & | inc_ref () const & |
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| operator bool () const |
| Return true when the handle wraps a valid Python object. More...
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bool | operator!= (const handle &h) const |
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bool | operator== (const handle &h) const |
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PyObject *& | ptr () |
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PyObject * | ptr () const |
| Return the underlying PyObject * pointer. More...
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Three-link arm class.
Definition at line 60 of file PlanarManipulatorExample.py.
◆ __init__()
def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.__init__ |
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self | ) |
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◆ con()
def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.con |
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self, |
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q |
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◆ fk()
def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.fk |
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self, |
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q |
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◆ ik()
def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.ik |
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self, |
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sTt_desired, |
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e = 1e-9 |
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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 |
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self, |
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q |
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◆ manipulator_jacobian()
def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.manipulator_jacobian |
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self, |
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q |
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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 |
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self, |
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fignum, |
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q |
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◆ poe()
def gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.poe |
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self, |
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q |
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◆ L1
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L1 |
◆ L2
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L2 |
◆ L3
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.L3 |
◆ sXt0
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.sXt0 |
◆ xi1
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi1 |
◆ xi2
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi2 |
◆ xi3
gtsam.examples.PlanarManipulatorExample.ThreeLinkArm.xi3 |
The documentation for this class was generated from the following file: