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amino
1.0-beta2
Lightweight Robot Utility Library
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Public Member Functions | |
def | __init__ (self, sub_scenegraph) |
def | __del__ (self) |
def | ref_tf (self) |
Reference transformation. | |
def | ref_tf (self, tf_ref) |
Set the reference transformation. | |
def | set_seed (self, config_sub) |
Sets the optimization seed. | |
def | set_seed_center (self) |
Sets the optimization seed to the joint center position. | |
def | set_seed_rand (self) |
Sets the optimization seed to a random position. | |
def | set_obj (self, fun) |
Sets the objective function for optimization. | |
def | set_tol_angle (self, angle) |
Sets the angle error tolerance. | |
def | set_tol_trans (self, trans) |
Sets the translational error tolerance. | |
def | restart_time (self) |
Maximum time limit for IK restarts. | |
def | restart_time (self, t) |
def | solve (self) |
Solves the IK problem. More... | |
Public Attributes | |
ssg | |
ik_parm | |
Static Public Attributes | |
restype | |
argtypes | |
Definition at line 264 of file kinematics.py.
def amino.kinematics.SceneIK.solve | ( | self | ) |
Solves the IK problem.
Definition at line 327 of file kinematics.py.