Klamp't Python Bindings  0.6.2
Public Member Functions | Public Attributes | List of all members
klampt.robotsim.IKObjective Class Reference
Inheritance diagram for klampt.robotsim.IKObjective:
klampt.robotsim._object

Public Member Functions

def __init__ (self)
 
def link (self)
 
def destLink (self)
 
def numPosDims (self)
 
def numRotDims (self)
 
def setFixedPoint (self, args)
 
def setFixedPoints (self, args)
 
def setFixedTransform (self, args)
 
def setRelativePoint (self, args)
 
def setRelativePoints (self, args)
 
def setRelativeTransform (self, args)
 
def setLinks (self, args)
 
def setFreePosition (self)
 
def setFixedPosConstraint (self, args)
 
def setPlanarPosConstraint (self, args)
 
def setLinearPosConstraint (self, args)
 
def setFreeRotConstraint (self)
 
def setFixedRotConstraint (self, args)
 
def setAxialRotConstraint (self, args)
 
def getPosition (self)
 
def getPositionDirection (self)
 
def getRotation (self)
 
def getRotationAxis (self)
 
def getTransform (self)
 
def loadString (self, args)
 
def saveString (self)
 

Public Attributes

 this
 

Detailed Description

A class defining an inverse kinematic target. Either a link on a robot
can take on a fixed position/orientation in the world frame, or a
relative position/orientation to another frame.

Currently only fixed-point constraints and fixed-transform constraints
are implemented in the Python API.

C++ includes: robotik.h 

Definition at line 2648 of file robotsim.py.

Constructor & Destructor Documentation

def klampt.robotsim.IKObjective.__init__ (   self)
__init__(IKObjective self) -> IKObjective

Definition at line 2664 of file robotsim.py.

Referenced by klampt.trajectory.HermiteTrajectory.makeSpline().

Member Function Documentation

def klampt.robotsim.IKObjective.destLink (   self)
destLink(IKObjective self) -> int

The index of the destination link, or -1 if fixed to the world. 

Definition at line 2677 of file robotsim.py.

def klampt.robotsim.IKObjective.getPosition (   self)
getPosition(IKObjective self)

Returns the local and global position of the position constraint. 

Definition at line 2816 of file robotsim.py.

def klampt.robotsim.IKObjective.getPositionDirection (   self)
getPositionDirection(IKObjective self)

For linear and planar constraints, returns the direction. 

Definition at line 2824 of file robotsim.py.

def klampt.robotsim.IKObjective.getRotation (   self)
getRotation(IKObjective self)

For fixed rotation constraints, returns the orientation. 

Definition at line 2832 of file robotsim.py.

def klampt.robotsim.IKObjective.getRotationAxis (   self)
getRotationAxis(IKObjective self)

For axis rotation constraints, returns the local and global axes. 

Definition at line 2840 of file robotsim.py.

def klampt.robotsim.IKObjective.getTransform (   self)
getTransform(IKObjective self)

For fixed-transform constraints, returns the transform (R,T) 

Definition at line 2848 of file robotsim.py.

def klampt.robotsim.IKObjective.link (   self)
link(IKObjective self) -> int

The index of the robot link that is constrained. 

Definition at line 2669 of file robotsim.py.

def klampt.robotsim.IKObjective.loadString (   self,
  args 
)
loadString(IKObjective self, char const * str) -> bool

Loads the objective from a Klamp't-native formatted string. For a more
readable but verbose format, try the JSON IO routines
loader.toJson/fromJson() 

Definition at line 2856 of file robotsim.py.

def klampt.robotsim.IKObjective.numPosDims (   self)
numPosDims(IKObjective self) -> int

Returns the number of position dimensions constrained (0-3) 

Definition at line 2685 of file robotsim.py.

def klampt.robotsim.IKObjective.numRotDims (   self)
numRotDims(IKObjective self) -> int

Returns the number of rotation dimensions constrained (0-3) 

Definition at line 2693 of file robotsim.py.

def klampt.robotsim.IKObjective.saveString (   self)
saveString(IKObjective self) -> std::string

Saves the objective to a Klamp't-native formatted string. For a more
readable but verbose format, try the JSON IO routines
loader.toJson/fromJson() 

Definition at line 2866 of file robotsim.py.

References klampt.robotsim._swig_property.

def klampt.robotsim.IKObjective.setAxialRotConstraint (   self,
  args 
)
setAxialRotConstraint(IKObjective self, double const [3] alocal, double const [3] aworld)

Manual: Sets an axial rotation constraint. 

Definition at line 2808 of file robotsim.py.

def klampt.robotsim.IKObjective.setFixedPoint (   self,
  args 
)
setFixedPoint(IKObjective self, int link, double const [3] plocal, double const [3] pworld)

Sets a fixed-point constraint. 

Definition at line 2701 of file robotsim.py.

def klampt.robotsim.IKObjective.setFixedPoints (   self,
  args 
)
setFixedPoints(IKObjective self, int link, PyObject * plocals, PyObject * pworlds)

Sets a multiple fixed-point constraint. 

Definition at line 2709 of file robotsim.py.

def klampt.robotsim.IKObjective.setFixedPosConstraint (   self,
  args 
)
setFixedPosConstraint(IKObjective self, double const [3] tlocal, double const [3] tworld)

Manual: Sets a fixed position constraint. 

Definition at line 2766 of file robotsim.py.

def klampt.robotsim.IKObjective.setFixedRotConstraint (   self,
  args 
)
setFixedRotConstraint(IKObjective self, double const [9] R)

Manual: Sets a fixed rotation constraint. 

Definition at line 2800 of file robotsim.py.

def klampt.robotsim.IKObjective.setFixedTransform (   self,
  args 
)
setFixedTransform(IKObjective self, int link, double const [9] R, double const [3] t)

Sets a fixed-transform constraint (R,t) 

Definition at line 2717 of file robotsim.py.

def klampt.robotsim.IKObjective.setFreePosition (   self)
setFreePosition(IKObjective self)

Manual: Sets a free position constraint. 

Definition at line 2758 of file robotsim.py.

def klampt.robotsim.IKObjective.setFreeRotConstraint (   self)
setFreeRotConstraint(IKObjective self)

Manual: Sets a free rotation constraint. 

Definition at line 2792 of file robotsim.py.

def klampt.robotsim.IKObjective.setLinearPosConstraint (   self,
  args 
)
setLinearPosConstraint(IKObjective self, double const [3] tlocal, double const [3] sworld, double const [3] dworld)

Manual: Sets a linear position constraint T(link)*tlocal = sworld +
u*dworld for some real value u. 

Definition at line 2783 of file robotsim.py.

def klampt.robotsim.IKObjective.setLinks (   self,
  args 
)
setLinks(IKObjective self, int link, int link2=-1)
setLinks(IKObjective self, int link)

Manual construction. 

Definition at line 2749 of file robotsim.py.

def klampt.robotsim.IKObjective.setPlanarPosConstraint (   self,
  args 
)
setPlanarPosConstraint(IKObjective self, double const [3] tlocal, double const [3] nworld, double oworld)

Manual: Sets a planar position constraint nworld^T T(link)*tlocal +
oworld = 0. 

Definition at line 2774 of file robotsim.py.

def klampt.robotsim.IKObjective.setRelativePoint (   self,
  args 
)
setRelativePoint(IKObjective self, int link1, int link2, double const [3] p1, double const [3] p2)

Sets a fixed-point constraint relative to link2. 

Definition at line 2725 of file robotsim.py.

def klampt.robotsim.IKObjective.setRelativePoints (   self,
  args 
)
setRelativePoints(IKObjective self, int link1, int link2, PyObject * p1s, PyObject * p2s)

Sets a multiple fixed-point constraint relative to link2. 

Definition at line 2733 of file robotsim.py.

def klampt.robotsim.IKObjective.setRelativeTransform (   self,
  args 
)
setRelativeTransform(IKObjective self, int link, int linkTgt, double const [9] R, double const [3] t)

Sets a fixed-transform constraint (R,t) relative to linkTgt. 

Definition at line 2741 of file robotsim.py.

Member Data Documentation

klampt.robotsim.IKObjective.this

Definition at line 2668 of file robotsim.py.


The documentation for this class was generated from the following file: