Public Member Functions | |
def | __init__ |
def | get_ik |
def | get_joint_limits |
def | set_joint_limits |
Public Attributes | |
base_link | |
joint_names | |
link_names | |
number_of_joints | |
tip_link | |
Private Attributes | |
_epsilon | |
_ik_solver | |
_solve_type | |
_timeout | |
_urdf_string |
Definition at line 10 of file trac_ik.py.
def trac_ik_python.trac_ik.IK.__init__ | ( | self, | |
base_link, | |||
tip_link, | |||
timeout = 0.005 , |
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epsilon = 1e-5 , |
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solve_type = "Speed" , |
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urdf_string = None |
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) |
Create a TRAC_IK instance and keep track of it. :param str base_link: Starting link of the chain. :param str tip_link: Last link of the chain. :param float timeout: Timeout in seconds for the IK calls. :param float epsilon: Error epsilon. :param solve_type str: Type of solver, can be: Speed (default), Distance, Manipulation1, Manipulation2 :param urdf_string str: Optional arg, if not given URDF is taken from the param server at /robot_description.
Definition at line 11 of file trac_ik.py.
def trac_ik_python.trac_ik.IK.get_ik | ( | self, | |
qinit, | |||
x, | |||
y, | |||
z, | |||
rx, | |||
ry, | |||
rz, | |||
rw, | |||
bx = 1e-5 , |
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by = 1e-5 , |
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bz = 1e-5 , |
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brx = 1e-3 , |
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bry = 1e-3 , |
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brz = 1e-3 |
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) |
Do the IK call. :param list of float qinit: Initial status of the joints as seed. :param float x: X coordinates in base_frame. :param float y: Y coordinates in base_frame. :param float z: Z coordinates in base_frame. :param float rx: X quaternion coordinate. :param float ry: Y quaternion coordinate. :param float rz: Z quaternion coordinate. :param float rw: W quaternion coordinate. :param float bx: X allowed bound. :param float by: Y allowed bound. :param float bz: Z allowed bound. :param float brx: rotation over X allowed bound. :param float bry: rotation over Y allowed bound. :param float brz: rotation over Z allowed bound. :return: joint values or None if no solution found. :rtype: tuple of float.
Definition at line 45 of file trac_ik.py.
def trac_ik_python.trac_ik.IK.get_joint_limits | ( | self | ) |
Return lower bound limits and upper bound limits for all the joints in the order of the joint names.
Definition at line 84 of file trac_ik.py.
def trac_ik_python.trac_ik.IK.set_joint_limits | ( | self, | |
lower_bounds, | |||
upper_bounds | |||
) |
Set joint limits for all the joints. :arg list lower_bounds: List of float of the lower bound limits for all joints. :arg list upper_bounds: List of float of the upper bound limits for all joints.
Definition at line 93 of file trac_ik.py.
trac_ik_python::trac_ik.IK::_epsilon [private] |
Definition at line 22 of file trac_ik.py.
trac_ik_python::trac_ik.IK::_ik_solver [private] |
Definition at line 22 of file trac_ik.py.
trac_ik_python::trac_ik.IK::_solve_type [private] |
Definition at line 22 of file trac_ik.py.
trac_ik_python::trac_ik.IK::_timeout [private] |
Definition at line 22 of file trac_ik.py.
trac_ik_python::trac_ik.IK::_urdf_string [private] |
Definition at line 22 of file trac_ik.py.
Definition at line 22 of file trac_ik.py.
Definition at line 22 of file trac_ik.py.
Definition at line 22 of file trac_ik.py.
Definition at line 22 of file trac_ik.py.
Definition at line 22 of file trac_ik.py.