ode_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
	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 107 of file ode_sim_arms.py.

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Constructor & Destructor Documentation

def ode_sim_arms.RobotSimulatorKDL.__init__

(

self

)

Definition at line 108 of file ode_sim_arms.py.

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Member Function Documentation

def ode_sim_arms.RobotSimulatorKDL.clamp_to_joint_limits	(		self,
			q
	)

Definition at line 255 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.create_right_chain

(

self

)

Definition at line 127 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.create_solvers	(		self,
			ch
	)

Definition at line 180 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.FK_kdl	(		self,
			q,
			link_number
	)

Definition at line 187 of file ode_sim_arms.py.

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

returns point in torso lift link.

Definition at line 199 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.get_joint_limits

(

self

)

Definition at line 267 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.Jacobian	(		self,
			q,
			pos = None
	)

compute Jacobian at point pos.

p is in the ground coord frame.

Definition at line 234 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.kdl_to_list	(		self,
			q
	)

Definition at line 214 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.list_to_kdl	(		self,
			q
	)

Definition at line 223 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.plot_arm	(		self,
			q,
			color,
			alpha,
			flip_xy
	)

Definition at line 273 of file ode_sim_arms.py.

def ode_sim_arms.RobotSimulatorKDL.within_joint_limits	(		self,
			q,
			active_joints = [0,
			delta_list = [0.
	)

Definition at line 258 of file ode_sim_arms.py.

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Member Data Documentation

ode_sim_arms.RobotSimulatorKDL::linkage_offset_from_ground

Definition at line 127 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::max_jtlim_arr

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::min_jtlim_arr

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::n_jts

Definition at line 127 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::right_chain

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::right_fk

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::right_ik_p

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::right_ik_v

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::right_jac

Definition at line 108 of file ode_sim_arms.py.

ode_sim_arms.RobotSimulatorKDL::right_tooltip

Definition at line 108 of file ode_sim_arms.py.

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

• ode_sim_arms.py