svenzva_drivers.svenzva_kinematics.SvenzvaKinematics Class Reference

Public Member Functions
def	__init__ (self)
def	get_jacobian_det (self)
def	get_jacobian_wrist_det (self)
def	get_joint_vel (self, q_ar, ee_vel)
def	get_next_det (self, q_ar, ee_vel, time_step)
def	solve_jacobian (self, q_ar)

Public Attributes
	data
	det
	NUM_JOINTS
	T

Static Public Attributes
int	ERROR_BAD_FORMAT = -1
int	ERROR_NO_CONVERGE = -2
int	ERROR_SINGULAR = -3
int	NUM_JOINTS = 6

Detailed Description

Definition at line 6 of file svenzva_kinematics.py.

Constructor & Destructor Documentation

def svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.__init__

(

self

)

Definition at line 13 of file svenzva_kinematics.py.

Member Function Documentation

def svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.get_jacobian_det

(

self

)

Definition at line 124 of file svenzva_kinematics.py.

def svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.get_jacobian_wrist_det

(

self

)

Definition at line 127 of file svenzva_kinematics.py.

def svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.get_joint_vel	(		self,
			q_ar,
			ee_vel
	)

Definition at line 76 of file svenzva_kinematics.py.

def svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.get_next_det	(		self,
			q_ar,
			ee_vel,
			time_step
	)

Definition at line 100 of file svenzva_kinematics.py.

def svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.solve_jacobian	(		self,
			q_ar
	)

Definition at line 22 of file svenzva_kinematics.py.

Member Data Documentation

svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.data

Definition at line 14 of file svenzva_kinematics.py.

svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.det

Definition at line 17 of file svenzva_kinematics.py.

int svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.ERROR_BAD_FORMAT = -1

static

Definition at line 9 of file svenzva_kinematics.py.

int svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.ERROR_NO_CONVERGE = -2

static

Definition at line 10 of file svenzva_kinematics.py.

int svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.ERROR_SINGULAR = -3

static

Definition at line 11 of file svenzva_kinematics.py.

int svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.NUM_JOINTS = 6

static

Definition at line 8 of file svenzva_kinematics.py.

svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.NUM_JOINTS

Definition at line 15 of file svenzva_kinematics.py.

svenzva_drivers.svenzva_kinematics.SvenzvaKinematics.T

Definition at line 16 of file svenzva_kinematics.py.

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

• svenzva_kinematics.py