Public Member Functions | Public Attributes | Private Attributes | List of all members
calibration_estimation.joint_chain.JointChain Class Reference

Public Member Functions

def __init__ (self, config)
 
def calc_free (self, free_config)
 
def deflate (self)
 
def fk (self, chain_state, link_num=-1)
 
def get_length (self)
 
def inflate (self, param_vec)
 
def params_to_config (self, param_vec)
 

Public Attributes

 root
 
 tip
 

Private Attributes

 _active
 
 _axis
 
 _cov_dict
 
 _gearing
 
 _joints
 
 _M
 
 _transforms
 

Detailed Description

This represents a chain of actuated joints
parameters = [gearing*num_of_joints]

Definition at line 37 of file joint_chain.py.

Constructor & Destructor Documentation

def calibration_estimation.joint_chain.JointChain.__init__ (   self,
  config 
)

Definition at line 42 of file joint_chain.py.

Member Function Documentation

def calibration_estimation.joint_chain.JointChain.calc_free (   self,
  free_config 
)

Definition at line 56 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.deflate (   self)

Definition at line 73 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.fk (   self,
  chain_state,
  link_num = -1 
)

Definition at line 83 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.get_length (   self)

Definition at line 77 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.inflate (   self,
  param_vec 
)

Definition at line 69 of file joint_chain.py.

def calibration_estimation.joint_chain.JointChain.params_to_config (   self,
  param_vec 
)

Definition at line 59 of file joint_chain.py.

Member Data Documentation

calibration_estimation.joint_chain.JointChain._active
private

Definition at line 46 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._axis
private

Definition at line 52 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._cov_dict
private

Definition at line 53 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._gearing
private

Definition at line 54 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._joints
private

Definition at line 45 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._M
private

Definition at line 47 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain._transforms
private

Definition at line 51 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain.root

Definition at line 43 of file joint_chain.py.

calibration_estimation.joint_chain.JointChain.tip

Definition at line 44 of file joint_chain.py.


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


calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Fri Apr 2 2021 02:12:53