Functions | |
def | cartesian_to_polar |
def | close_to_boundary |
def | compute_boundary |
compute the boundary of the 2D points. | |
def | dist_from_boundary |
return distance from boundary. | |
def | optimize_position |
def | point_contained |
mx,my,ma - motion of the robot cx,cy - axis of mechanism in robot frame. | |
def | polar_to_cartesian |
def | pts_within_dist |
def | segway_motion_repulse |
apologies for the poor name. | |
def | tlRts |
rotate vector from torso local to torso start frame. | |
def | tlTts |
transform from torso start to torso local frame. | |
def | tsRtl |
rotate vector from torso local to torso start frame. | |
def | tsTtl |
transform from torso local to torso start frame. | |
def | vec_from_boundary |
return 2x1 vector from closest boundary point | |
def | visualize_boundary |
Variables | |
tuple | bpts = compute_boundary(pts) |
tuple | d = ut.load_pickle('../../pkls/workspace_dict_2009Sep05_200116.pkl') |
tuple | k = d.keys() |
tuple | k_idx = np.argmin(np.abs(np.array(k)-z)) |
list | pts = d[k[k_idx]] |
float | rad = 0.4 |
float | z = 0.23 |
def 2010_icra_epc_pull.segway_motion_calc.cartesian_to_polar | ( | pts | ) |
pts | - 2xN np matrix |
Definition at line 50 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.close_to_boundary | ( | curr_pos, | |
bndry, | |||
pts, | |||
dist_thresh | |||
) |
curr_pos | - current location of end effector. 3x1 np matrix |
bndry | - workspace boundary. 2xN np matrix |
Definition at line 226 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.compute_boundary | ( | pts | ) |
compute the boundary of the 2D points.
Making assumptions about the density of the points, tested with workspace_dict only.
pts | - 2xN np matrix |
Definition at line 174 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.dist_from_boundary | ( | curr_pos, | |
bndry, | |||
pts | |||
) |
return distance from boundary.
(-ve if outside the boundary)
curr_pos | - can be 3x1 np matrix |
bndry | - boundary (2xN np matrix) |
pts | - 2xN np matrix. pts whose boundary is bndry |
Definition at line 203 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.optimize_position | ( | cx, | |
cy, | |||
rad, | |||
curr_pos, | |||
eq_pos, | |||
pts, | |||
bndry, | |||
start_angle, | |||
end_angle, | |||
buffer, | |||
tangential_force | |||
) |
Definition at line 86 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.point_contained | ( | mx, | |
my, | |||
ma, | |||
cx, | |||
cy, | |||
rad, | |||
pts, | |||
start_angle, | |||
end_angle, | |||
buffer | |||
) |
mx,my,ma - motion of the robot cx,cy - axis of mechanism in robot frame.
start_angle,end_angle - between 0 and 2*pi
Definition at line 68 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.polar_to_cartesian | ( | r, | |
theta | |||
) |
r | - 1D np array |
theta | - 1D np array (RADIANS) |
Definition at line 59 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.pts_within_dist | ( | p, | |
pts, | |||
min_dist, | |||
max_dist | |||
) |
Definition at line 294 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.segway_motion_repulse | ( | curr_pos_tl, | |
eq_pt_tl, | |||
bndry, | |||
all_pts | |||
) |
apologies for the poor name.
computes the translation of the torso frame that move the eq pt away from closest boundary and rotate such that local x axis is perp to mechanism returns 2x1 np matrix, angle
Definition at line 305 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.tlRts | ( | vecs_ts, | |
a | |||
) |
rotate vector from torso local to torso start frame.
vecs_tl | - 3xN np matrix in tl coord frame. |
a | - motion of the segway (in the ms frame) |
Definition at line 287 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.tlTts | ( | pts_ts, | |
x, | |||
y, | |||
a | |||
) |
transform from torso start to torso local frame.
pts | - 3xN np matrix in ts coord frame. |
x,y,a | - motion of the segway (in the ms frame) |
Definition at line 255 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.tsRtl | ( | vecs_tl, | |
a | |||
) |
rotate vector from torso local to torso start frame.
vecs_tl | - 3xN np matrix in tl coord frame. |
a | - motion of the segway (in the ms frame) |
Definition at line 277 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.tsTtl | ( | pts_tl, | |
x, | |||
y, | |||
a | |||
) |
transform from torso local to torso start frame.
pts | - 3xN np matrix in tl coord frame. |
x,y,a | - motion of the segway (in the ms frame) |
Definition at line 266 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.vec_from_boundary | ( | curr_pos, | |
bndry | |||
) |
return 2x1 vector from closest boundary point
Definition at line 192 of file segway_motion_calc.py.
def 2010_icra_epc_pull.segway_motion_calc.visualize_boundary | ( | ) |
Definition at line 230 of file segway_motion_calc.py.
tuple 2010_icra_epc_pull::segway_motion_calc::bpts = compute_boundary(pts) |
Definition at line 358 of file segway_motion_calc.py.
tuple 2010_icra_epc_pull::segway_motion_calc::d = ut.load_pickle('../../pkls/workspace_dict_2009Sep05_200116.pkl') |
Definition at line 349 of file segway_motion_calc.py.
tuple 2010_icra_epc_pull::segway_motion_calc::k = d.keys() |
Definition at line 351 of file segway_motion_calc.py.
Definition at line 352 of file segway_motion_calc.py.
Definition at line 353 of file segway_motion_calc.py.
float 2010_icra_epc_pull::segway_motion_calc::rad = 0.4 |
Definition at line 360 of file segway_motion_calc.py.
float 2010_icra_epc_pull::segway_motion_calc::z = 0.23 |
Definition at line 350 of file segway_motion_calc.py.