PR2_Symbolic Class Reference

Public Member Functions
def	__init__

Public Attributes
	right_arm
	p_EFR_WR
	p_BO
	p_BR_BO
	p_BL_BO
	R_B
	p_EFR
	R_EFR
	p_WR_BR
	R_WR_B
	div_theta_e
	div_phi_e
	redundancy_jacobian

Detailed Description

This class provides a parametric representation of the kinematics of PR2 robot
The position, orientation and the Jacobian can be expressed in terms of the kinematic parameters of the robot
It uses sympy as a tool for symbols algebra

Definition at line 115 of file pr2_symbolics.py.

Constructor & Destructor Documentation

def __init__

(

self

)

Definition at line 121 of file pr2_symbolics.py.

Member Data Documentation

div_phi_e

Definition at line 174 of file pr2_symbolics.py.

div_theta_e

Definition at line 163 of file pr2_symbolics.py.

p_BL_BO

Definition at line 142 of file pr2_symbolics.py.

p_BO

Definition at line 140 of file pr2_symbolics.py.

p_BR_BO

Definition at line 141 of file pr2_symbolics.py.

p_EFR

Definition at line 155 of file pr2_symbolics.py.

p_EFR_WR

Definition at line 139 of file pr2_symbolics.py.

p_WR_BR

Definition at line 158 of file pr2_symbolics.py.

R_B

Definition at line 143 of file pr2_symbolics.py.

R_EFR

Definition at line 156 of file pr2_symbolics.py.

R_WR_B

Definition at line 159 of file pr2_symbolics.py.

redundancy_jacobian

Definition at line 185 of file pr2_symbolics.py.

right_arm

Definition at line 132 of file pr2_symbolics.py.

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

• pr2_symbolics.py