Endeffector Class Reference

Inheritance diagram for Endeffector:

Public Member Functions
def	__init__
def	clear_pose
def	clear_error
def	add_taskpoint
def	add_taskframe
def	__str__
def	num_task_constraints
def	joint_damping_weights
def	pose
def	pose_error
def	pose_error_norm
def	geometric_jacobian
def	error_jacobian
def	manipulability
def	in_target
def	pose_to_tuple
def	tuple_to_pose
def	set_config_virtual
def	set_config
def	set_target

Public Attributes
	end_settings
	task_point
	task_frame
	task_cost
	current_pose
	geo_jac
	current_pose_error
	current_error_norm
	err_jac
	all_taskpoints_in_target
	all_taskframes_in_target
	is_in_target
	mu
	mp
	mo
	all_task_points_in_target
	all_task_frames_in_target

Detailed Description

This class contains all kinematic properties of the taskspace of a manipulator.
These properties are:

    1- task_point: A list of operational points (Position References)
    2- reference_orientation: A list of operational link frames (Orientation References)
    3- The geometric Jacobian
    4- The error Jacobian
    5- The pose error vector and its norm
    
Method "update" calculates and update all these properties according to the given joint configuration.

Definition at line 48 of file endeffector.py.

Constructor & Destructor Documentation

def __init__	(		self,
			config_settings,
			geo_settings,
			end_settings
	)

Definition at line 61 of file endeffector.py.

Member Function Documentation

def __str__

(

self

)

Definition at line 164 of file endeffector.py.

def add_taskframe	(		self,
			task_frame
	)

Definition at line 158 of file endeffector.py.

def add_taskpoint	(		self,
			task_point
	)

Definition at line 149 of file endeffector.py.

def clear_error

(

self

)

Definition at line 124 of file endeffector.py.

def clear_pose

(

self

)

Definition at line 108 of file endeffector.py.

def error_jacobian

(

self

)

Definition at line 322 of file endeffector.py.

def geometric_jacobian

(

self

)

Definition at line 291 of file endeffector.py.

def in_target

(

self

)

Definition at line 364 of file endeffector.py.

def joint_damping_weights

(

self

)

Definition at line 200 of file endeffector.py.

def manipulability

(

self

)

Definition at line 358 of file endeffector.py.

def num_task_constraints

(

self

)

Definition at line 183 of file endeffector.py.

def pose

(

self

)

Definition at line 214 of file endeffector.py.

def pose_error

(

self

)

Definition at line 244 of file endeffector.py.

def pose_error_norm

(

self

)

Definition at line 285 of file endeffector.py.

def pose_to_tuple	(		self,
			pose_selection,
			parametrization
	)

return the endeffector target pose as a concatenated tuple

Definition at line 369 of file endeffector.py.

def set_config	(		self,
			qd
	)

Definition at line 459 of file endeffector.py.

def set_config_virtual	(		self,
			qvrd
	)

Definition at line 452 of file endeffector.py.

def set_target	(		self,
			position,
			orientation
	)

Definition at line 466 of file endeffector.py.

def tuple_to_pose	(		self,
			pose_selection,
			pose_tuple,
			parametrization
	)

get the pose as a concatenated tuple and change endeffector target 
(inverse of "self.target_pose_to_tuple")

Definition at line 407 of file endeffector.py.

Member Data Documentation

all_task_frames_in_target

Definition at line 269 of file endeffector.py.

all_task_points_in_target

Definition at line 256 of file endeffector.py.

all_taskframes_in_target

Definition at line 143 of file endeffector.py.

all_taskpoints_in_target

Definition at line 141 of file endeffector.py.

current_error_norm

Definition at line 134 of file endeffector.py.

current_pose

Definition at line 117 of file endeffector.py.

current_pose_error

Definition at line 132 of file endeffector.py.

end_settings

Definition at line 63 of file endeffector.py.

err_jac

Definition at line 139 of file endeffector.py.

geo_jac

Definition at line 121 of file endeffector.py.

is_in_target

Definition at line 145 of file endeffector.py.

mo

Definition at line 197 of file endeffector.py.

mp

Definition at line 191 of file endeffector.py.

mu

Definition at line 147 of file endeffector.py.

task_cost

Definition at line 72 of file endeffector.py.

task_frame

Definition at line 71 of file endeffector.py.

task_point

Definition at line 70 of file endeffector.py.

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

• endeffector.py