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amino
1.0-beta2
Lightweight Robot Utility Library
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|
amino
1.0-beta2
Lightweight Robot Utility Library
|
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.