Task_Point Class Reference

Public Member Functions
def	__init__
def	clear_error
def	clear_position
def	__str__
def	set_target
def	set_transfer_matrices
def	set_analytic_jacobian
def	position

Public Attributes
	config_settings
	lp
	rd
	H
	geometric_jacobian
	error_jacobian
	error
	ra
	analytic_jacobian

Detailed Description

refernce point only for introducing an endeffector position 

reference_position == Reference Position + Target Point for this reference position + actual position for this point

"reference_position" is a class or data structure containing properties by which a point in the task space of a chained link manipulator is defined.
   
TASK POSITION is RELATIVE to the "FRAME" of the link, 
    the "FRAME" of the link is determined via DH parameters and the zero configuration  

Definition at line 22 of file task_point.py.

Constructor & Destructor Documentation

def __init__	(		self,
			config_settings,
			link_point_list
	)

link_point_list == WEIGHTING 

Create and define the default values for class properties

Definition at line 34 of file task_point.py.

Member Function Documentation

def __str__

(

self

)

Definition at line 68 of file task_point.py.

def clear_error

(

)

Definition at line 58 of file task_point.py.

def clear_position

(

)

Definition at line 62 of file task_point.py.

def position

(

self

)

Definition at line 90 of file task_point.py.

def set_analytic_jacobian	(		self,
			analytic_jacobian
	)

Definition at line 85 of file task_point.py.

def set_target	(		self,
			rd
	)

Definition at line 74 of file task_point.py.

def set_transfer_matrices	(		self,
			H
	)

Definition at line 79 of file task_point.py.

Member Data Documentation

analytic_jacobian

Definition at line 86 of file task_point.py.

config_settings

Definition at line 40 of file task_point.py.

error

Definition at line 56 of file task_point.py.

error_jacobian

Definition at line 53 of file task_point.py.

geometric_jacobian

Definition at line 51 of file task_point.py.

H

Definition at line 49 of file task_point.py.

lp

Definition at line 43 of file task_point.py.

ra

Definition at line 64 of file task_point.py.

rd

Definition at line 47 of file task_point.py.

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

• task_point.py