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 18 of file pr2_symbolics.py.

Constructor & Destructor Documentation

def __init__

(

self

)

Definition at line 24 of file pr2_symbolics.py.

Member Data Documentation

A

Definition at line 42 of file pr2_symbolics.py.

B

Definition at line 48 of file pr2_symbolics.py.

div_phi_err

Definition at line 102 of file pr2_symbolics.py.

div_theta_err

Definition at line 94 of file pr2_symbolics.py.

H

Definition at line 87 of file pr2_symbolics.py.

p_EF_W

Definition at line 85 of file pr2_symbolics.py.

p_W

Definition at line 77 of file pr2_symbolics.py.

R

Definition at line 54 of file pr2_symbolics.py.

R_d

Definition at line 70 of file pr2_symbolics.py.

R_W

Definition at line 78 of file pr2_symbolics.py.

RJ

Definition at line 112 of file pr2_symbolics.py.

T

Definition at line 59 of file pr2_symbolics.py.

T_W

Definition at line 76 of file pr2_symbolics.py.

x_d

Definition at line 69 of file pr2_symbolics.py.

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

• pr2_symbolics.py