Task_Frame Class Reference

Inheritance diagram for Task_Frame:

Public Member Functions
def	__init__
def	__str__
def	orientation
def	error_jacobian
def	geometric_jacobian
Public Member Functions inherited from Task_Reference
def	__init__
def	clear_error
def	clear
def	set_target

Public Attributes
	ln
	error
	ra
Public Attributes inherited from Task_Reference
	config_settings
	rd
	geo_jac
	err_jac
	error
	priority_level
	ra

Detailed Description

old name: Task_Frame : 

## link_number is NOT part of this class / element but of the SET that holds / manages these classes/elements!
##   -> link_number DOES NOT determine the NATURE of a Reference_Orientation

This class is used to introduce a reference orientation for the endeffector. The reference orientation is the orientation of link which is specified by: "link_number"

Definition at line 104 of file task_reference.py.

Constructor & Destructor Documentation

def __init__	(		self,
			config_settings,
			link_number
	)

Definition at line 114 of file task_reference.py.

Member Function Documentation

def __str__

(

self

)

Definition at line 122 of file task_reference.py.

def error_jacobian	(		self,
			ajac
	)

Definition at line 137 of file task_reference.py.

def geometric_jacobian	(		self,
			H
	)

Definition at line 142 of file task_reference.py.

def orientation	(		self,
			H
	)

update the actual (current) orientation of the reference orientation. Change property "ra"

Definition at line 128 of file task_reference.py.

Member Data Documentation

error

Definition at line 120 of file task_reference.py.

ln

Definition at line 118 of file task_reference.py.

ra

Definition at line 132 of file task_reference.py.

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

• task_reference.py