Abstract class containing kinematics interfaces for an arm. More...

Public Member Functions
def	__init__
def	FK
	Returns FK for the last link in the kinematic chain.
def	FK_vanilla
	Returns FK for the last link in the kinematic chain.
def	IK
	Computes IK for the tooltip.
def	IK_vanilla
	Computes IK for the last link in the kinematic chain.
def	jacobian
	Computes Jacobian in the arm's frame given joint angles at the specified position.
def	jacobian_vanilla
	Computes Jacobian in the arm's frame given joint angles at the specified position.
def	set_arm_base
	Sets the offset of the first link in the kinematic chain.
def	set_tooltip
	Sets the offset of the tool from the last link in the kinematic chain.
Public Attributes
	arm_base_pos
	arm_base_rot
	n_jts
	tooltip_pos
	tooltip_rot

Detailed Description

Abstract class containing kinematics interfaces for an arm.

Definition at line 83 of file hrl_arm_template.py.

Constructor & Destructor Documentation

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.__init__	(	self,
		n_jts,
		arm_base_pos = `np.matrix([0.]*3).T`,
		arm_base_rot = `np.matrix(np.eye(3))`,
		tool_pos = `np.matrix([0.]*3).T`,
		tool_rot = `np.matrix(np.eye(3))`
	)

Parameters:

n_jts	Number of joints of the arm
tool_pos	Postion offset of the tool from the last link in the kinematic chain
tool_rot	Rotation offset of the tool from the last link in the kinematic chain

Definition at line 88 of file hrl_arm_template.py.

Member Function Documentation

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.FK	(	self,
		q,
		link_number = `None`
	)

Returns FK for the last link in the kinematic chain.

Must be implemented by child class

Parameters:

q	Joint angles in radians
link_number	Link in the kinematic chain to return FK for 0 represents the ground frame, 1 returns the first link's frame, ... n_jts + 1 (and None) returns the tooltip's frame

Returns:: pos (3x1) np matrix, rot (3x3) np matrix

Definition at line 134 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.FK_vanilla	(	self,
		q,
		link_number = `None`
	)

Returns FK for the last link in the kinematic chain.

Must be implemented by child class.

Parameters:

q	Joint angles in radians
link_number	Link in the kinematic chain to return FK for 0 represents the ground frame, 1 returns the first link's frame, ... n_jts + 1 returns the tooltip's frame

Returns:: pos (3x1) np matrix, rot (3x3) np matrix

Definition at line 103 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.IK	(	self,
		pos,
		rot,
		q_guess = `None`
	)

Computes IK for the tooltip.

The desired location is first transformed back into the last link's frame and IK is performed on that location.

Parameters:

pos	Desired link position (3x1 np matrix)
rot	Desired link rotation (3x3 np matrix)
q_guess	Estimate of the desired joint angles which seeds the IK solver

Definition at line 160 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.IK_vanilla	(	self,
		pos,
		rot,
		q_guess = `None`
	)

Computes IK for the last link in the kinematic chain.

Must be implemented by child class.

Parameters:

pos	Desired link position (3x1 np matrix)
rot	Desired link rotation (3x3 np matrix)
q_guess	Estimate of the desired joint angles which seeds the IK solver

Definition at line 112 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.jacobian	(	self,
		q,
		pos = `None`
	)

Computes Jacobian in the arm's frame given joint angles at the specified position.

Parameters:

q	Joint angles for Jacobian
pos	Position at which the Jacobian is centered. If None, the tooltip location from FK is used.

Returns:: Jacobian 6xN np matrix

Definition at line 173 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.jacobian_vanilla	(	self,
		q,
		pos = `None`
	)

Computes Jacobian in the arm's frame given joint angles at the specified position.

Must be implemented by child class.

Parameters:

q	Joint angles for Jacobian
pos	Position at which the Jacobian is centered. If None, the tooltip location from FK is used.

Returns:: Jacobian 6xN np matrix

Definition at line 122 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.set_arm_base	(	self,
		arm_base_pos,
		arm_base_rot = `np.matrix(np.eye(3))`
	)

Sets the offset of the first link in the kinematic chain.

Parameters:

arm_base_pos	Postion offset of the first link in the kinematic chain
arm_base_rot	Rotation offset of the first link in the kinematic chain

Definition at line 182 of file hrl_arm_template.py.

def hrl_generic_arms.hrl_arm_template.HRLArmKinematics.set_tooltip	(	self,
		tool_pos,
		tool_rot = `np.matrix(np.eye(3))`
	)

Sets the offset of the tool from the last link in the kinematic chain.

Parameters:

tool_pos	Postion offset of the tool from the last link in the kinematic chain
tool_rot	Rotation offset of the tool from the last link in the kinematic chain

Definition at line 190 of file hrl_arm_template.py.