MAGIKS
1.1
Manipulator General Inverse Kinematic Solver
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This class, introduces a structure for a point in the three-dimensional space. More...
Public Member Functions | |
def | __init__ |
Class Constructor. More... | |
def | clear |
def | clear_velocity |
def | clear_acceleration |
def | __getitem__ |
def | is_none |
def | velocity_is_none |
def | acceleration_is_none |
def | set_velocity |
def | set_acceleration |
def | __setitem__ |
def | cartesian |
def | spherical |
def | cylindrical |
def | dist |
def | __str__ |
This function is the string representation of the key point. More... | |
def | value |
Use this function to get the current value of position, velocity or acceleration in a desired dimension. More... | |
def | __add__ |
def | __sub__ |
def | __neg__ |
Public Attributes | |
dim | |
An integer indicating the dimension of space in which the kepy point is defined. More... | |
p | |
s | |
c | |
pd | |
sd | |
cd | |
pdd | |
sdd | |
cdd | |
This class, introduces a structure for a point in the three-dimensional space.
Definition at line 61 of file geometry.py.
def __init__ | ( | self, | |
pos, | |||
vel = None , |
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acc = None , |
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representation = 'cartesian' |
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) |
Class Constructor.
pos | The desired position vector at the key point |
vel | The desired velocity vector at the key point |
acc | The desired acceleration vector at the key point |
Definition at line 67 of file geometry.py.
def __add__ | ( | p1, | |
p2 | |||
) |
Definition at line 254 of file geometry.py.
def __getitem__ | ( | self, | |
representation | |||
) |
Definition at line 105 of file geometry.py.
def __neg__ | ( | p | ) |
Definition at line 260 of file geometry.py.
def __setitem__ | ( | self, | |
representation, | |||
value | |||
) |
Definition at line 158 of file geometry.py.
def __str__ | ( | self | ) |
This function is the string representation of the key point.
None |
Definition at line 223 of file geometry.py.
def __sub__ | ( | p1, | |
p2 | |||
) |
Definition at line 257 of file geometry.py.
def acceleration_is_none | ( | self | ) |
Definition at line 133 of file geometry.py.
def cartesian | ( | self | ) |
Definition at line 179 of file geometry.py.
def clear | ( | self | ) |
Definition at line 77 of file geometry.py.
def clear_acceleration | ( | self | ) |
Definition at line 97 of file geometry.py.
def clear_velocity | ( | self | ) |
Definition at line 87 of file geometry.py.
def cylindrical | ( | self | ) |
Definition at line 206 of file geometry.py.
def dist | ( | self, | |
point | |||
) |
Definition at line 215 of file geometry.py.
def is_none | ( | self | ) |
Definition at line 127 of file geometry.py.
def set_acceleration | ( | self, | |
value, | |||
representation | |||
) |
Definition at line 147 of file geometry.py.
def set_velocity | ( | self, | |
value, | |||
representation | |||
) |
Definition at line 136 of file geometry.py.
def spherical | ( | self | ) |
Definition at line 197 of file geometry.py.
def value | ( | self, | |
field_name = 'position' , |
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axis = 0 |
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) |
Use this function to get the current value of position, velocity or acceleration in a desired dimension.
field_name | A string, must be selected from set: ['position', 'velocity', 'acceleration' specifying which vector is desired. |
axis | A non-negative integer specifying which element of the vector should be returned. (Must not be greater than the space dimension) |
Definition at line 241 of file geometry.py.
def velocity_is_none | ( | self | ) |
Definition at line 130 of file geometry.py.
c |
Definition at line 85 of file geometry.py.
cd |
Definition at line 95 of file geometry.py.
cdd |
Definition at line 103 of file geometry.py.
dim |
An integer indicating the dimension of space in which the kepy point is defined.
This number specifies the number of elements of position, velocity and acceleration vectors
Definition at line 71 of file geometry.py.
p |
Definition at line 79 of file geometry.py.
pd |
Definition at line 89 of file geometry.py.
pdd |
Definition at line 99 of file geometry.py.
s |
Definition at line 82 of file geometry.py.
sd |
Definition at line 92 of file geometry.py.
sdd |
Definition at line 101 of file geometry.py.