robot_hand.Visual Class Reference

Public Member Functions
def	__init__ (self, name, jointParent, placement, radius=0.1, length=None)
def	collision (self, c2, data=None, oMj1=None, oMj2=None)
def	displayCollision (self, viewer, name="world/wa")
def	isCapsule (self)
def	jacobian (self, c2, robot, q)
def	place (self, display, oMjoint)

Public Attributes
	dist
	jointParent
	length
	name
	placement
	R
	radius
	w

Detailed Description

Class representing one 3D mesh of the robot, to be attached to a joint. The class
contains:
* the name of the 3D objects inside Gepetto viewer.
* the ID of the joint in the kinematic tree to which the body is attached.
* the placement of the body with respect to the joint frame.
This class is only used in the list Robot.visuals (see below).

The visual are supposed mostly to be capsules. In that case, the object also
contains radius and length of the capsule.
The collision checking computes collision test, distance, and witness points.
Using the supporting robot, the collision Jacobian returns a 1xN matrix
corresponding to the normal direction.

Definition at line 10 of file robot_hand.py.

Constructor & Destructor Documentation

__init__()

def robot_hand.Visual.__init__	(		self,
			name,
			jointParent,
			placement,
			radius = 0.1,
			length = None
	)

Length and radius are used in case of capsule objects

Definition at line 26 of file robot_hand.py.

Member Function Documentation

collision()

def robot_hand.Visual.collision	(		self,
			c2,
			data = None,
			oMj1 = None,
			oMj2 = None
	)

Definition at line 42 of file robot_hand.py.

displayCollision()

def robot_hand.Visual.displayCollision	(		self,
			viewer,
			name = "world/wa"
	)

Definition at line 129 of file robot_hand.py.

isCapsule()

def robot_hand.Visual.isCapsule

(

self

)

Definition at line 39 of file robot_hand.py.

jacobian()

def robot_hand.Visual.jacobian	(		self,
			c2,
			robot,
			q
	)

Definition at line 119 of file robot_hand.py.

place()

def robot_hand.Visual.place	(		self,
			display,
			oMjoint
	)

Definition at line 35 of file robot_hand.py.

Member Data Documentation

dist

robot_hand.Visual.dist

Definition at line 110 of file robot_hand.py.

jointParent

robot_hand.Visual.jointParent

Definition at line 29 of file robot_hand.py.

length

robot_hand.Visual.length

Definition at line 32 of file robot_hand.py.

name

robot_hand.Visual.name

Definition at line 28 of file robot_hand.py.

placement

robot_hand.Visual.placement

Definition at line 30 of file robot_hand.py.

R

robot_hand.Visual.R

Definition at line 114 of file robot_hand.py.

radius

robot_hand.Visual.radius

Definition at line 33 of file robot_hand.py.

w

robot_hand.Visual.w

Definition at line 112 of file robot_hand.py.

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

• robot_hand.py