general_magiks.py

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# HEADER

## @file            general.py
#  @brief           Contains some general kinematic functions regarding chain-link manipulators
#  @author          Nima Ramezani Taghiabadi 
#
#                   PhD Researcher 
#                   Faculty of Engineering and Information Technology 
#                   University of Technology Sydney (UTS) 
#                   Broadway, Ultimo, NSW 2007, Australia 
#                   Phone No. :   04 5027 4611 
#                   Email(1)  : nima.ramezani@gmail.com 
#                   Email(2)  : Nima.RamezaniTaghiabadi@uts.edu.au 
#  @version         1.0
#
#  Last Revision:   03 January 2015

# BODY

import numpy, math

def transfer_DH_standard(theta, alpha, a, d, q):
    s  = math.sin(theta + q)
    c  = math.cos(theta + q)
    sa = math.sin(alpha)
    ca = math.cos(alpha)
    
    return numpy.array([[  c, -ca*s,  sa*s, a*c ],
                        [  s,  ca*c, -sa*c, a*s ],
                        [  0,  sa  ,  ca  , d   ],
                        [  0,  0   ,  0   , 1   ]])