MAGIKS
1.1
Manipulator General Inverse Kinematic Solver
|
Functions | |
def | sign_choice |
def | inv |
def | round |
def | round_mat |
def | equal |
def | ensured_in_range |
def | sign |
def | connect_interval |
def | binary_choice |
def | solve_quadratic_inequality |
def | closest_border |
def | accommodating_interval |
def | gauss_rec |
def | gauss_kernel_cosine |
Variables | |
int | two_pi = 2 |
int | pi = 1 |
tuple | deg_to_rad = (math.pi/180.00) |
tuple | rad_to_deg = (180.00/math.pi) |
float | epsilon = 0.00001 |
tuple | f0 = float(0) |
tuple | f1 = float(1) |
int | err_code = 0 |
tuple | infinity = float("inf") |
def math_tools.general_math.accommodating_interval | ( | x, | |
S | |||
) |
This function returns the interval in which x is located(accommodated) if x is not in the interval, then None is returned
Definition at line 168 of file general_math.py.
def math_tools.general_math.binary_choice | ( | a, | |
b, | |||
z | |||
) |
This function returns "a" or "b" depending on the sign of "z", if "z" is positive or zero, "a" is returned otherwise "b" is returned
Definition at line 120 of file general_math.py.
def math_tools.general_math.closest_border | ( | x, | |
S, | |||
k = 0.01 |
|||
) |
Returns the closest border of set S to value x. S is an interval variable from package interval
Definition at line 150 of file general_math.py.
def math_tools.general_math.connect_interval | ( | C | ) |
Sometimes the interval includes two descrite intervals so that the upper bound of interval i equals the lower bound of interval i + 1 In this case it is better to connect the two intervals. This functions does this and returns an interval in which all sequential continuous intervals are replaced by one interval.
Definition at line 95 of file general_math.py.
def math_tools.general_math.ensured_in_range | ( | x, | |
xl, | |||
xh | |||
) |
Definition at line 76 of file general_math.py.
def math_tools.general_math.equal | ( | v1, | |
v2, | |||
epsilon = epsilon |
|||
) |
Returns 1 if two values v1 and v2 are equal otherwise returns 0
Definition at line 70 of file general_math.py.
def math_tools.general_math.gauss_kernel_cosine | ( | phi, | |
c, | |||
h | |||
) |
This function is translated from Matlab code written by Gabriel. The Matlab code can be found in: /home/nimasoft/Dropbox/software/matlab/packages/gabriell/Periodic_learning_v5_fafo_simulink/gauss_kernel_cosine.m
Definition at line 209 of file general_math.py.
def math_tools.general_math.gauss_rec | ( | phi, | |
W_arr, | |||
r, | |||
c, | |||
h, | |||
N_w | |||
) |
This function is translated from simulink model created by Gabriel The .mdl file can be found in: /home/nimasoft/Dropbox/software/matlab/packages/gabriell/Periodic_learning_v5_fafo_simulink/output_dyn_system_v4_simple.m
phi, r, h must be scalar values c, W_arr must be arrays of minimum length N_w N_w = length(W_arr)
Definition at line 180 of file general_math.py.
def math_tools.general_math.inv | ( | x | ) |
Definition at line 39 of file general_math.py.
def math_tools.general_math.round | ( | x | ) |
Definition at line 48 of file general_math.py.
def math_tools.general_math.round_mat | ( | A | ) |
Definition at line 60 of file general_math.py.
def math_tools.general_math.sign | ( | x | ) |
Returns 1 if x is positive, -1 if negative and 0 if abs(x) is smaller than epsilon
Definition at line 83 of file general_math.py.
def math_tools.general_math.sign_choice | ( | x, | |
y, | |||
z | |||
) |
Definition at line 31 of file general_math.py.
def math_tools.general_math.solve_quadratic_inequality | ( | a, | |
b, | |||
c | |||
) |
solves the quadratic inequality "a*x^2 + b*x + c > 0" for "x" and returns a feasibility set for "x" so that the inequality holds
Definition at line 130 of file general_math.py.
tuple deg_to_rad = (math.pi/180.00) |
Definition at line 22 of file general_math.py.
float epsilon = 0.00001 |
Definition at line 25 of file general_math.py.
int err_code = 0 |
Definition at line 28 of file general_math.py.
tuple f0 = float(0) |
Definition at line 26 of file general_math.py.
tuple f1 = float(1) |
Definition at line 27 of file general_math.py.
tuple infinity = float("inf") |
Definition at line 29 of file general_math.py.
int pi = 1 |
Definition at line 21 of file general_math.py.
tuple rad_to_deg = (180.00/math.pi) |
Definition at line 23 of file general_math.py.
int two_pi = 2 |
Definition at line 20 of file general_math.py.