hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL Class Reference

KDL for kinematics etc. More...

List of all members.

Public Member Functions
def	__init__
def	clamp_to_joint_limits
def	create_right_chain
def	create_solvers
def	FK_kdl
def	FK_vanilla
	returns point in torso lift link.
def	get_joint_limits
def	jacobian
	compute Jacobian at point pos.
def	kdl_to_list
def	list_to_kdl
def	plot_arm
def	within_joint_limits
Public Attributes
	arm_type
	d_robot
	linkage_offset_from_ground
	max_jtlim_arr
	min_jtlim_arr
	n_jts
	right_chain
	right_fk
	right_ik_p
	right_ik_v
	right_jac
	right_tooltip

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Detailed Description

KDL for kinematics etc.

Definition at line 111 of file gen_sim_arms.py.

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Constructor & Destructor Documentation

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.__init__	(		self,
			d_robot
	)

Definition at line 112 of file gen_sim_arms.py.

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Member Function Documentation

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.clamp_to_joint_limits	(		self,
			q
	)

Definition at line 253 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.create_right_chain

(

self

)

Definition at line 130 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.create_solvers	(		self,
			ch
	)

Definition at line 178 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.FK_kdl	(		self,
			q,
			link_number
	)

Definition at line 185 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.FK_vanilla	(		self,
			q,
			link_number = None
	)

returns point in torso lift link.

Definition at line 197 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.get_joint_limits

(

self

)

Definition at line 268 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.jacobian	(		self,
			q,
			pos = None
	)

compute Jacobian at point pos.

p is in the ground coord frame.

Definition at line 232 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.kdl_to_list	(		self,
			q
	)

Definition at line 212 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.list_to_kdl	(		self,
			q
	)

Definition at line 221 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.plot_arm	(		self,
			q,
			color,
			alpha,
			flip_xy,
			linewidth = 2
	)

Definition at line 274 of file gen_sim_arms.py.

def hrl_software_simulation_darpa_m3.gen_sim_arms.RobotSimulatorKDL.within_joint_limits	(		self,
			q,
			delta_list = None
	)

Definition at line 256 of file gen_sim_arms.py.

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Member Data Documentation

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::arm_type

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::d_robot

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::linkage_offset_from_ground

Definition at line 130 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::max_jtlim_arr

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::min_jtlim_arr

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::n_jts

Definition at line 130 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::right_chain

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::right_fk

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::right_ik_p

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::right_ik_v

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::right_jac

Definition at line 112 of file gen_sim_arms.py.

hrl_software_simulation_darpa_m3::gen_sim_arms.RobotSimulatorKDL::right_tooltip

Definition at line 112 of file gen_sim_arms.py.

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

• gen_sim_arms.py