MAGIKS
1.1
Manipulator General Inverse Kinematic Solver
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Public Member Functions | |
def | __init__ |
Class Constructor Creates an ellipsoid with given charachteristic matrix A and center. More... | |
def | volume |
def | min_dist |
def | max_dist |
def | possess |
Public Attributes | |
M | |
center | |
a | |
b | |
c | |
R | |
Definition at line 835 of file geometry.py.
def __init__ | ( | self, | |
M = np.eye(3) , |
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center = Point_3D(pos = np.zeros(3)) |
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) |
Class Constructor Creates an ellipsoid with given charachteristic matrix A and center.
The equation of the ellipsoid is given as: $$ **(x - c)**^T M **(x - c)** $$
M | A numpy square matrix representing the charachteristic matrix of the ellipsoid. |
center | An instance of class Point_3D() specifying the ellipsoid center For example to have a non-rotated ellipsoid centered at the origin with equation: x^2/a^2 + y^2/b^2 + z^2/c^2 = 1 Arguments M and center must be selected as: [ a^(-2) 0 0 ] M = [ 0 b^(-2) 0 ] [ 0 0 c^(-2) ] center = (0, 0, 0) |
Definition at line 843 of file geometry.py.
def max_dist | ( | self, | |
point | |||
) |
Definition at line 881 of file geometry.py.
def min_dist | ( | self, | |
point | |||
) |
Definition at line 872 of file geometry.py.
def possess | ( | self, | |
point | |||
) |
Definition at line 890 of file geometry.py.
def volume | ( | self | ) |
Definition at line 869 of file geometry.py.
a |
Definition at line 864 of file geometry.py.
b |
Definition at line 865 of file geometry.py.
c |
Definition at line 866 of file geometry.py.
center |
Definition at line 863 of file geometry.py.
M |
Definition at line 862 of file geometry.py.
R |
Definition at line 867 of file geometry.py.