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
	pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
string	urdf_filename = pinocchio_model_dir + "models/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf"

Function Documentation

approximate_mesh()

def capsule-approximation.approximate_mesh	(		filename,
			lMg
	)

Definition at line 69 of file capsule-approximation.py.

capsule_approximation()

def capsule-approximation.capsule_approximation

(

vertices

)

Definition at line 50 of file capsule-approximation.py.

capsule_volume()

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

Definition at line 22 of file capsule-approximation.py.

distance_points_segment()

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

Definition at line 26 of file capsule-approximation.py.

parse_urdf()

def capsule-approximation.parse_urdf	(		infile,
			outfile
	)

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

pca_approximation()

def capsule-approximation.pca_approximation

(

vertices

)

Definition at line 36 of file capsule-approximation.py.

Variable Documentation

CONSTRAINT_INFLATION_RATIO

int capsule-approximation.CONSTRAINT_INFLATION_RATIO = 5e-3

Definition at line 19 of file capsule-approximation.py.

EPSILON

int capsule-approximation.EPSILON = 1e-8

Definition at line 18 of file capsule-approximation.py.

pinocchio_model_dir

capsule-approximation.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

Definition at line 152 of file capsule-approximation.py.

urdf_filename

string capsule-approximation.urdf_filename = pinocchio_model_dir + "models/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf"

Definition at line 153 of file capsule-approximation.py.