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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)
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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.
1.8.8