MAGIKS  1.1
Manipulator General Inverse Kinematic Solver
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Point_3D Class Reference

This class, introduces a structure for a point in the three-dimensional space. More...

Inheritance diagram for Point_3D:

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
 

Detailed Description

This class, introduces a structure for a point in the three-dimensional space.

Definition at line 61 of file geometry.py.

Constructor & Destructor Documentation

def __init__ (   self,
  pos,
  vel = None,
  acc = None,
  representation = 'cartesian' 
)

Class Constructor.

Parameters
posThe desired position vector at the key point
velThe desired velocity vector at the key point
accThe desired acceleration vector at the key point

Definition at line 67 of file geometry.py.

Member Function Documentation

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.

Parameters
None
Returns
A string representing all the information about the key point

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',
  axis = 0 
)

Use this function to get the current value of position, velocity or acceleration in a desired dimension.

Parameters
field_nameA string, must be selected from set: ['position', 'velocity', 'acceleration' specifying which vector is desired.
axisA non-negative integer specifying which element of the vector should be returned. (Must not be greater than the space dimension)
Returns
A float containing the value of the element specified by argument axis from the vector specified by argument field_name

Definition at line 241 of file geometry.py.

def velocity_is_none (   self)

Definition at line 130 of file geometry.py.

Member Data Documentation

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.


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