hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics Class Reference

List of all members.

Public Member Functions
def	__init__
def	fk
	Forward Kinematics.
def	ik
	Inverse kinematics.
Public Attributes
	fk_info_resp
	ik_frame
	ik_info_resp
	ik_joint_names
	joint_names
	tflistener
	tool_frame
Private Attributes
	_fk
	_fk_info
	_ik
	_ik_info

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Detailed Description

Definition at line 9 of file pr2_kinematics.py.

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Constructor & Destructor Documentation

def hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics.__init__	(		self,
			arm,
			listener
	)

Definition at line 11 of file pr2_kinematics.py.

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Member Function Documentation

def hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics.fk	(		self,
			joint_poses_mat,
			frame = 'torso_lift_link',
			sol_link = None,
			use_tool_frame = True
	)

Forward Kinematics.

Parameters:

joint_poses_mat	nx1 matrix of joint positions
frame	frame to give solution in
sol_link	link to solve FK for
use_tool_frame	FK doesn't account for length of tool frame (PR2 gripper), if sol_link is the wrist link then will return the gripper's FK.

Returns:

a 4x4 SE(3) matrix

Definition at line 110 of file pr2_kinematics.py.

def hrl_pr2_lib.pr2_kinematics.PR2ArmKinematics.ik	(		self,
			cart_pose,
			frame_of_pose = 'torso_lift_link',
			seed = None
	)

Inverse kinematics.

Parameters:

cart_pose	a 4x4 SE(3) pose
frame_of_pose	frame cart_pose is given in, if None we assume that self.tool_frame is being used
seed	starting solution for IK solver (list of floats or column np.matrix of floats)

Definition at line 50 of file pr2_kinematics.py.

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Member Data Documentation

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::_fk [private]

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::_fk_info [private]

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::_ik [private]

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::_ik_info [private]

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::fk_info_resp

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::ik_frame

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::ik_info_resp

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::ik_joint_names

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::joint_names

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::tflistener

Definition at line 11 of file pr2_kinematics.py.

hrl_pr2_lib::pr2_kinematics.PR2ArmKinematics::tool_frame

Definition at line 11 of file pr2_kinematics.py.

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

• pr2_kinematics.py