MAGIKS  1.1
Manipulator General Inverse Kinematic Solver
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functions.py
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1 '''
2 @file: functions.py
3 @brief: This module provides an abstract class representing a general mathematical function
4 @author: Nima Ramezani Taghiabadi
5  PhD Researcher
6  Faculty of Engineering and Information Technology
7  University of Technology Sydney
8  Broadway, Ultimo, NSW 2007
9  Room No.: CB10.03.512
10  Phone: 02 9514 4621
11  Mobile: 04 5027 4611
12  Email(1): Nima.RamezaniTaghiabadi@student.uts.edu.au
13  Email(2): nima.ramezani@gmail.com
14  Email(3): nima_ramezani@yahoo.com
15  Email(4): ramezanitn@alum.sharif.edu
16 @version: 1.0
17 Last Revision: 10 August 2015
18 '''
19 
20 import numpy as np, math
21 
22 class Function(object):
23  def __init__(self, name = 'Identity'):
24  name = name
25 
26  def value(self, x):
27  return x
28 
29  def gradient(self, x):
30  return 1.0
31 
32  def hessian(self, x):
33  return 0.0