Manipulator_Configuration_Settings Class Reference

This class contains joint properties of a chained-link manipulator. More...

Public Member Functions
def	__init__
	The Class Constructor: More...

Public Attributes
	njoint
	DOF
	An integer: Is a short form of Degrees of Freedom and represents the number of free joints. More...
	joint_handling
	An array of string containing the specific mapping function for each joint The array is of length DOF and is defined only for free joints. More...
	limited
	An array of booleans specifying which joints are limited. More...
	joint_label
	An array of string containing indivifual labels or names the for each joint. More...
	joint_limits_respected
	A boolean specify if the joint limits must be respected when new joint values are being set. More...
	ql
	A vector of real numbers representing lower bounds for the joint configuration. More...
	qh
	A vector of real numbers representing higher bounds for the joint configuration The array is of length /c njoint and is defined for both fixed and free joints. More...
	prismatic
	A list of booleans representing the type of the corresponding joint number. More...
	free

Detailed Description

This class contains joint properties of a chained-link manipulator.

These properties include degree of freedom, joint types, joint limits and mapping functions.

Definition at line 38 of file manipulator_configuration.py.

Constructor & Destructor Documentation

def __init__	(		self,
			njoint = 0,
			DOF = 0,
			joint_mapping = 'NM'
	)

The Class Constructor:

Parameters

njoint	A positive integer specifying the number of joints of the manipulator
DOF	A positive integer specifying the number of degrees of freedom
joint_mapping	A string specifying the default mapping function. This parameter must be chosen among these options: NM: No Mapping (Identity mapping function) LM: Linear Mapping TM: Trigonometric Mapping

Definition at line 47 of file manipulator_configuration.py.

Member Data Documentation

DOF

An integer: Is a short form of Degrees of Freedom and represents the number of free joints.

Definition at line 50 of file manipulator_configuration.py.

free

Definition at line 83 of file manipulator_configuration.py.

joint_handling

An array of string containing the specific mapping function for each joint The array is of length DOF and is defined only for free joints.

Definition at line 54 of file manipulator_configuration.py.

joint_label

An array of string containing indivifual labels or names the for each joint.

The array is of length DOF and is defined only for free joints.

Definition at line 62 of file manipulator_configuration.py.

joint_limits_respected

A boolean specify if the joint limits must be respected when new joint values are being set.

If this property is True, the system checks for the given joint values to be in the defined feasible range and fails with an error if given joint values are beyond the limits. If False, any value for the joints are accepted.

Definition at line 68 of file manipulator_configuration.py.

limited

An array of booleans specifying which joints are limited.

The array is of length DOF and is defined only for free joints. The array is of length DOF and is defined only for free joints.

Definition at line 58 of file manipulator_configuration.py.

njoint

Definition at line 48 of file manipulator_configuration.py.

prismatic

A list of booleans representing the type of the corresponding joint number.

If True, the joint is prismatic, if False it is revolute. The array is of length /c njoint and is defined for both fixed and free joints.

Definition at line 80 of file manipulator_configuration.py.

qh

A vector of real numbers representing higher bounds for the joint configuration The array is of length /c njoint and is defined for both fixed and free joints.

Definition at line 75 of file manipulator_configuration.py.

ql

A vector of real numbers representing lower bounds for the joint configuration.

The array is of length /c njoint and is defined for both fixed and free joints.

Definition at line 72 of file manipulator_configuration.py.

---

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

• manipulator_configuration.py