capsule-approximation Namespace Reference

Functions
def	approximate_mesh (filename, lMg)
def	capsule_approximation (vertices)
def	capsule_volume (a, b, r)
def	distance_points_segment (p, a, b)
def	parse_urdf (infile, outfile)
def	pca_approximation (vertices)

Variables
int	CONSTRAINT_INFLATION_RATIO = 5e-3
int	EPSILON = 1e-8
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
tuple	urdf_filename

Function Documentation

approximate_mesh()

def capsule-approximation.approximate_mesh	(		filename,
			lMg
	)

Definition at line 77 of file capsule-approximation.py.

capsule_approximation()

def capsule-approximation.capsule_approximation

(

vertices

)

Definition at line 52 of file capsule-approximation.py.

capsule_volume()

def capsule-approximation.capsule_volume	(		a,
			b,
			r
	)

Definition at line 24 of file capsule-approximation.py.

distance_points_segment()

def capsule-approximation.distance_points_segment	(		p,
			a,
			b
	)

Definition at line 28 of file capsule-approximation.py.

parse_urdf()

def capsule-approximation.parse_urdf	(		infile,
			outfile
	)

Definition at line 86 of file capsule-approximation.py.

pca_approximation()

def capsule-approximation.pca_approximation

(

vertices

)

Definition at line 38 of file capsule-approximation.py.

Variable Documentation

CONSTRAINT_INFLATION_RATIO

int capsule-approximation.CONSTRAINT_INFLATION_RATIO = 5e-3

Definition at line 21 of file capsule-approximation.py.

EPSILON

int capsule-approximation.EPSILON = 1e-8

Definition at line 20 of file capsule-approximation.py.

pinocchio_model_dir

string capsule-approximation.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 170 of file capsule-approximation.py.

urdf_filename

tuple capsule-approximation.urdf_filename

Initial value:

=  (
        pinocchio_model_dir
        + "models/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf"
    )

Definition at line 171 of file capsule-approximation.py.