PR2_Arm_Symbolic Class Reference

Public Member Functions
def	__init__

Public Attributes
	A
	B
	R
	T
	x_d
	R_d
	T_W
	p_W
	R_W
	p_EF_W
	H
	div_theta_err
	div_phi_err
	RJ

Detailed Description

This class provides a parametric representation of the kinematics of PR2 arm
The position, orientation and the Jacobian can be expressed in terms of DH parameters and sine and cosine of the joint angles
It uses sympy as a tool for symbols algebra

Definition at line 42 of file pr2_arm_kinematics.py.

Constructor & Destructor Documentation

def __init__

(

self

)

Definition at line 48 of file pr2_arm_kinematics.py.

Member Data Documentation

A

Definition at line 68 of file pr2_arm_kinematics.py.

B

Definition at line 74 of file pr2_arm_kinematics.py.

div_phi_err

Definition at line 128 of file pr2_arm_kinematics.py.

div_theta_err

Definition at line 120 of file pr2_arm_kinematics.py.

H

Definition at line 113 of file pr2_arm_kinematics.py.

p_EF_W

Definition at line 111 of file pr2_arm_kinematics.py.

p_W

Definition at line 103 of file pr2_arm_kinematics.py.

R

Definition at line 80 of file pr2_arm_kinematics.py.

R_d

Definition at line 96 of file pr2_arm_kinematics.py.

R_W

Definition at line 104 of file pr2_arm_kinematics.py.

RJ

Definition at line 138 of file pr2_arm_kinematics.py.

T

Definition at line 85 of file pr2_arm_kinematics.py.

T_W

Definition at line 102 of file pr2_arm_kinematics.py.

x_d

Definition at line 95 of file pr2_arm_kinematics.py.

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

• pr2_arm_kinematics.py