Classes |
| class | arm_trajectories.CartesianTajectory |
| class | arm_trajectories.ForceTrajectory |
| class | arm_trajectories.JointTrajectory |
Namespaces |
| namespace | arm_trajectories |
Functions |
| def | arm_trajectories.compute_forces |
| | compute the force that the arm would apply given the stiffness matrix
|
| def | arm_trajectories.compute_radial_tangential_forces |
| | return two lists containing the radial and tangential components of the forces.
|
| def | arm_trajectories.compute_workspace |
| def | arm_trajectories.compute_workspace_z |
| def | arm_trajectories.diff_roll_angles |
| def | arm_trajectories.fit_circle |
| | find the x and y coord of the center of the circle and the radius that best matches the data.
|
| def | arm_trajectories.fit_rotary_joint |
| | find the x and y coord of the center of the circle of given radius that best matches the data.
|
| def | arm_trajectories.joint_to_cartesian |
| def | arm_trajectories.plot_cartesian |
| def | arm_trajectories.plot_error_forces |
| def | arm_trajectories.plot_forces_quiver |
| def | arm_trajectories.plot_stiff_ellipse_map |
| def | arm_trajectories.plot_stiff_ellipses |
| def | arm_trajectories.plot_stiffness_field |
Variables |
| tuple | arm_trajectories.actual_cartesian = joint_to_cartesian(d['actual']) |
| tuple | arm_trajectories.angle = math.atan2(y_diff,x_diff) |
| list | arm_trajectories.arm_stiffness_list = d['stiffness'] |
| list | arm_trajectories.asl = [min(scale*s,1.0) for s in arm_stiffness_list] |
| tuple | arm_trajectories.ax = pl.gca() |
| string | arm_trajectories.color = 'k' |
| tuple | arm_trajectories.curr_size = f.get_size_inches() |
| tuple | arm_trajectories.d = ut.load_pickle(fname) |
| list | arm_trajectories.ee_start_pos = pts_list[0] |
| tuple | arm_trajectories.end_angle = tr.angle_within_mod180(math.atan2(end_pt[1,0],end_pt[0,0])-math.radians(90)) |
| list | arm_trajectories.end_pt = pts2d_actual_t[:,-1] |
| tuple | arm_trajectories.eq_cartesian = joint_to_cartesian(d['eq_pt']) |
| | arm_trajectories.expt_plot = opt.exptplot |
| tuple | arm_trajectories.f = pl.gcf() |
| list | arm_trajectories.fig_name = str_parts[0] |
| | arm_trajectories.fname = opt.fname |
| tuple | arm_trajectories.force_mag = ut.norm(forces) |
| list | arm_trajectories.force_traj = d['force'] |
| tuple | arm_trajectories.forces = np.matrix(force_traj.f_list) |
| string | arm_trajectories.help = 'pkl file to use.' |
| int | arm_trajectories.i = 0 |
| tuple | arm_trajectories.leg = pl.legend(loc='best') |
| tuple | arm_trajectories.p = optparse.OptionParser() |
| | arm_trajectories.p_list = actual_cartesian.p_list |
| | arm_trajectories.plot_ellipses_flag = opt.plot_ellipses |
| | arm_trajectories.plot_ellipses_vary_flag = opt.pev |
| | arm_trajectories.plot_force_components_flag = opt.pfc |
| | arm_trajectories.plot_force_field_flag = opt.pff |
| | arm_trajectories.plot_forces_error_flag = opt.plot_forces_error |
| | arm_trajectories.plot_forces_flag = opt.plot_forces |
| | arm_trajectories.plot_mechanism_frame = opt.pmf |
| | arm_trajectories.plot_workspace_flag = opt.pwf |
| tuple | arm_trajectories.pts2d_actual = (np.matrix(actual_cartesian.p_list).T) |
| tuple | arm_trajectories.pts2d_actual_t = rot_mat*(pts2d_actual - translation_mat) |
| tuple | arm_trajectories.pts_2d = (np.matrix(pts_list).T) |
| | arm_trajectories.pts_list = actual_cartesian.p_list |
| | arm_trajectories.rad = opt.rad |
| | arm_trajectories.rad_fix = opt.rad_fix |
| float | arm_trajectories.rad_guess = 0.9 |
| list | arm_trajectories.ratio_list1 = [0.1,0.3,0.5,0.7,0.9] |
| list | arm_trajectories.ratio_list2 = [0.1,0.3,0.5,0.7,0.9] |
| list | arm_trajectories.ratio_list3 = [0.1,0.3,0.5,0.7,0.9] |
| tuple | arm_trajectories.robot_mat = rot_mat*(np.matrix([robot_x_list,robot_y_list]) - translation_mat) |
| list | arm_trajectories.robot_x_list = [-robot_width/2,-robot_width/2,robot_width/2,robot_width/2,-robot_width/2] |
| list | arm_trajectories.robot_y_list = [-robot_length/2,robot_length/2,robot_length/2,-robot_length/2,-robot_length/2] |
| tuple | arm_trajectories.rot_mat = tr.Rz(angle) |
| float | arm_trajectories.s0 = 0.2 |
| list | arm_trajectories.s_list = [s0,s1,s2,s3,0.8] |
| list | arm_trajectories.s_scale = d['stiffness'] |
| list | arm_trajectories.scale = d['stiffness'] |
| tuple | arm_trajectories.show_fig = not(opt.noshow) |
| list | arm_trajectories.sl = [min(s*s_scale,1.0) for s in s_list] |
| list | arm_trajectories.st_pt = pts_2d[:,0] |
| tuple | arm_trajectories.start_angle = tr.angle_within_mod180(math.atan2(st_pt[1,0]-cy,st_pt[0,0]-cx) - math.radians(90)) |
| list | arm_trajectories.start_pt = actual_cartesian.p_list[0] |
| tuple | arm_trajectories.str_parts = fname.split('.') |
| int | arm_trajectories.subplotnum = 234 |
| tuple | arm_trajectories.t0 = time.time() |
| tuple | arm_trajectories.t1 = time.time() |
| tuple | arm_trajectories.t2 = time.time() |
| list | arm_trajectories.time_dict = d['time_dict'] |
| list | arm_trajectories.time_list = d['force'] |
| tuple | arm_trajectories.translation_mat = np.matrix([cx,cy]) |
| tuple | arm_trajectories.x_coord_list = np.matrix(p_list) |
| list | arm_trajectories.x_diff = start_pt[0] |
| list | arm_trajectories.x_guess = ee_start_pos[0] |
| | arm_trajectories.xy_flag = opt.xy |
| | arm_trajectories.xyz_flag = opt.xyz |
| | arm_trajectories.xz_flag = opt.xz |
| list | arm_trajectories.y_diff = start_pt[1] |
| list | arm_trajectories.y_guess = ee_start_pos[1] |
| | arm_trajectories.yz_flag = opt.yz |