pose_metric.py File Reference

: This module provides a class representing the residual error between the actual and desired endeffector poses including methods for calculating residual functions based on various conventions for both position and orientation. More...

Go to the source code of this file.

Classes
class	Metric_Settings
	Class Constructor: More...
class	Metric
class	Position_Metric
class	Orientation_Metric
class	Pose_Metric

Namespaces
	math_tools.geometry.pose_metric

Variables
dictionary	key_dic
dictionary	type_dic
list	representations_of_position = ['Cartesian Coordinates', 'Cylinderical Coordinates', 'Spherical Coordinates']
list	representations_of_orientation = ['matrix', 'vector', 'angle', 'trace' ,'diag', 'quaternion', 'angle_axis']
list	special_metric_representations = ['AxInPr','DiNoQu', 'AxInPr+DiNoQu','ReRoAn + ReOrVe']

Detailed Description

: This module provides a class representing the residual error between the actual and desired endeffector poses including methods for calculating residual functions based on various conventions for both position and orientation.

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: 11 January 2015

Definition in file pose_metric.py.