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MAGIKS
1.1
Manipulator General Inverse Kinematic Solver
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MAGIKS
1.1
Manipulator General Inverse Kinematic Solver
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Public Member Functions | |
| def | __init__ |
| def | new_segment |
| def | interpolate |
| def | add_point |
| def | draw_polynomial |
| def | plot |
| def | consistent_velocities |
| def | consistent_accelerations |
 Public Member Functions inherited from Trajectory | |
| def | __init__ |
| def | __str__ |
| def | locate_point |
| def | get_keypoint |
| def | current_value |
| def | add_segment |
| def | new_segment |
| def | points_dist |
| def | adjust_phase_by_distance |
| def | closest_segment_number |
| def | set_phi |
| def | set_phase |
| def | position |
| def | positions |
| def | add_position |
| def | add_velocity |
| def | last_position |
| def | last_velocity |
| def | add_point |
| Use this function to append a key point to the end of the trajectory with desired position, velocity and acceleration The given point will be added to the end of the last segment of the trajectory, unless the segment capacity if full (number of segment points equals the capacity of that segment). More... | |
| def | clear_velocities |
| def | clear_accelerations |
| def | add_vector |
| private More... | |
| def | map_phi |
| def | get_range |
| def | get_plot |
| def | plot |
| def | plot_all |
| def | __getitem__ |
| def | draw_points |
| def | csv_str |
| def | write_csv |
| def | matrix |
| def | plot2d |
| def | plot3d |
Public Attributes | |
| phi_end | |
| Public Attributes inherited from Trajectory | |
| dim | |
| plot_settings | |
| capacity | |
| Specifies the default segment capacity. More... | |
| current_position | |
| current_velocity | |
| current_acceleration | |
| segment | |
| seg_start | |
| seg_start_pntn | |
| phi_end | |
| npoints | |
| current_phi | |
| accuracy_level | |
| pos_min | |
| pos_max | |
| vel_max | |
| acc_max | |
| jrk_max | |
| phi_start | |
Definition at line 1466 of file trajectory.py.
| def __init__ | ( | self, | |
dimension = 3, |
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capacity = 3 |
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Definition at line 1467 of file trajectory.py.
| def add_point | ( | self, | |
| phi, | |||
| pos, | |||
vel = None, |
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acc = None |
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| ) |
Definition at line 1484 of file trajectory.py.
| def consistent_accelerations | ( | self | ) |
Definition at line 1585 of file trajectory.py.
| def consistent_velocities | ( | self | ) |
Definition at line 1554 of file trajectory.py.
| def draw_polynomial | ( | self, | |
| ax, | |||
axis = 0, |
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figure = None, |
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n = 1000, |
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ltype = '-' |
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| ) |
Definition at line 1508 of file trajectory.py.
| def interpolate | ( | self | ) |
Definition at line 1480 of file trajectory.py.
| def new_segment | ( | self, | |
capacity = None |
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| ) |
Definition at line 1470 of file trajectory.py.
| def plot | ( | self, | |
axis = 0, |
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figure = None, |
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n = 100, |
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show_points = False |
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| ) |
Definition at line 1519 of file trajectory.py.
| phi_end |
Definition at line 1506 of file trajectory.py.
1.8.8
