Klamp't Python Bindings  0.7
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 transform (self, args)
 
def transformLocal (self, args)
 
def matchDestination (self, args)
 
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 2906 of file robotsim.py.

Constructor & Destructor Documentation

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

Definition at line 2922 of file robotsim.py.

Referenced by klampt.model.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 2935 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 3074 of file robotsim.py.

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

For linear and planar constraints, returns the direction. 

Definition at line 3082 of file robotsim.py.

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

For fixed rotation constraints, returns the orientation. 

Definition at line 3090 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 3098 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 3106 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 2927 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 3144 of file robotsim.py.

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

Sets the destination coordinates of this constraint to fit the given
target transform. In other words, if (R,t) is the current link
transform, this sets the destination position / orientation so that
this objective has zero error. The current position/rotation
constraint types are kept. 

Definition at line 3132 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 2943 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 2951 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 3154 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 3066 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 2959 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 2967 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 3024 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 3058 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 2975 of file robotsim.py.

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

Manual: Sets a free position constraint. 

Definition at line 3016 of file robotsim.py.

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

Manual: Sets a free rotation constraint. 

Definition at line 3050 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 3041 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 3007 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 3032 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 2983 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 2991 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 2999 of file robotsim.py.

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

Tranforms the target position/rotation of this IK constraint by
transform (R,t) 

Definition at line 3114 of file robotsim.py.

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

Tranforms the local position/rotation of this IK constraint by
transform (R,t) 

Definition at line 3123 of file robotsim.py.

Member Data Documentation

klampt.robotsim.IKObjective.this

Definition at line 2926 of file robotsim.py.


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