Task_Point Class Reference

Inheritance diagram for Task_Point:

Public Member Functions
def	__init__
def	__str__
def	position
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
	lp
	error
	ra
Public Attributes inherited from Task_Reference
	config_settings
	rd
	geo_jac
	err_jac
	error
	priority_level
	ra

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 56 of file task_reference.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 68 of file task_reference.py.

Member Function Documentation

def __str__

(

self

)

Definition at line 80 of file task_reference.py.

def error_jacobian	(		self,
			H,
			ajac
	)

Definition at line 94 of file task_reference.py.

def geometric_jacobian	(		self,
			ajac
	)

Definition at line 99 of file task_reference.py.

def position	(		self,
			H
	)

Definition at line 86 of file task_reference.py.

Member Data Documentation

error

Definition at line 78 of file task_reference.py.

lp

Definition at line 77 of file task_reference.py.

ra

Definition at line 87 of file task_reference.py.

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

• task_reference.py