Workspace Class Reference

Inheritance diagram for Workspace:

Public Member Functions
def	__init__
def	create_random
def	create_JSG
def	create
def	configs_nearest_to_pose
def	configs_nearest_to
def	nearest_configs
def	write_to_file

Public Attributes
	ws_settings
	config_list
	pose_list
	lower_pose
	upper_pose
	pose_tree
	config_tree
	file_name

Detailed Description

This class inherits DH parameters from class: "Manipulator_Geometry" 
It contains pre-computed kinematic properties of a manipulator in a discretized grid of the jointspace.
These properties are in two equivalent lists named "config_list" and "pose_list"

Definition at line 120 of file workspace.py.

Constructor & Destructor Documentation

def __init__	(		self,
			config_settings,
			geo_settings,
			end_settings,
			ws_settings
	)

Definition at line 127 of file workspace.py.

Member Function Documentation

def configs_nearest_to	(		self,
			current_q
	)

Return a list of configurations which:
    Are closest to the starting configuration

(second  / online usecase : time coherence ... ) 

Definition at line 293 of file workspace.py.

def configs_nearest_to_pose	(		self,
			endeff
	)

endeff contains the target pose         

Return a list of configurations which:
    Their corresponding poses are closest to the target pose 
    
QUESTION : configs_nearest_to_target( EE, distance ? ) ?? 

Definition at line 270 of file workspace.py.

def create

(

self

)

Definition at line 240 of file workspace.py.

def create_JSG

(

self

)

Generate a lattice in the jointspace and computes the forward kinematic of each configuration.
The feasible range of each jach joint is divided by "self.ws_settings.grid_resolution" + 1 intervals. 
The configurations are sstored in property "self.config_list" and the corresponding poses are stored in property "self.pose_list"
A pose contains 3 elements for each position (reference_position) and 3 elements for each orientation (reference_orientation)

A nun-redundant parametrization for orientation should be introduced by property "self.representation_of_orientation"

Definition at line 184 of file workspace.py.

def create_random

(

self

)

Generate a number of random configs in the feasible range of the jointspace and computes the forward kinematic of each configuration.
The number of random points generated are determined by property: "self.ws_settings.number_of_configs" 
The configurations are stored in property "self.config_list" and the corresponding poses are stored in property "self.pose_list"
A pose contains 3 elements for each position (reference_position) and 3 elements for each orientation (reference_orientation)

A nun-redundant parametrization for orientation should be introduced by property "self.representation_of_orientation"

Definition at line 148 of file workspace.py.

def nearest_configs	(		self,
			ik
	)

Definition at line 309 of file workspace.py.

def write_to_file	(		self,
			path_and_file_name
	)

Save the class in file specified by "self.file_name"

Definition at line 323 of file workspace.py.

Member Data Documentation

config_list

Definition at line 134 of file workspace.py.

config_tree

Definition at line 146 of file workspace.py.

file_name

Definition at line 238 of file workspace.py.

lower_pose

Definition at line 138 of file workspace.py.

pose_list

Definition at line 136 of file workspace.py.

pose_tree

Definition at line 142 of file workspace.py.

upper_pose

Definition at line 139 of file workspace.py.

ws_settings

Definition at line 131 of file workspace.py.

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

• workspace.py