ur_kin_py.kin.Kinematics Class Reference

List of all members.

Public Member Functions
def	__init__
def	forward
def	inverse
def	inverse_all
Static Public Attributes
string	UR10_ID = 'ur10'
string	UR5_ID = 'ur5'
Private Attributes
	_forward
	_inverse

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Detailed Description

Definition at line 9 of file kin.py.

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Constructor & Destructor Documentation

def ur_kin_py.kin.Kinematics.__init__	(		self,
			model
	)

Definition at line 12 of file kin.py.

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Member Function Documentation

def ur_kin_py.kin.Kinematics.forward	(		self,
			q
	)

Definition at line 23 of file kin.py.

def ur_kin_py.kin.Kinematics.inverse	(		self,
			x,
			q_guess = None,
			q_min = 6*[-2.*np.pi],
			q_max = 6*[2.*np.pi],
			weights = 6*[1.]
	)

Definition at line 57 of file kin.py.

def ur_kin_py.kin.Kinematics.inverse_all	(		self,
			x,
			q_guess = None,
			q_min = 6*[-2.*np.pi],
			q_max = 6*[2.*np.pi]
	)

Definition at line 30 of file kin.py.

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Member Data Documentation

ur_kin_py::kin.Kinematics::_forward [private]

Definition at line 12 of file kin.py.

ur_kin_py::kin.Kinematics::_inverse [private]

Definition at line 12 of file kin.py.

string ur_kin_py::kin.Kinematics::UR10_ID = 'ur10' [static]

Definition at line 11 of file kin.py.

string ur_kin_py::kin.Kinematics::UR5_ID = 'ur5' [static]

Definition at line 10 of file kin.py.

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

• kin.py