velma_kinematics.velma_ik_geom.KinematicsSolverLWR4 Class Reference

Kinematics solver (FK, IK) for Kuka LWR 4+. More...

Public Member Functions
def	__init__ (self)
	Initialization. More...
def	getLimits (self)
def	getDebug (self, key)
	Get some debug information after solving inverse kinematics. More...
def	calculateIk (self, T_A0_A7d, elbow_circle_angle, flip_shoulder, flip_elbow, flip_ee)
	Calculate inverse kinematics (IK) for Kuka LWR 4+. More...
def	calculateIkSet (self, T_A0_A7d, elbow_circle_angles)
	Calculate inverse kinematics (IK) for Kuka LWR 4+. More...
def	calculateFk (self, q)
	Calculate forward kinematics (FK) for Kuka LWR 4+. More...

Public Attributes
	m_lim_lo
	m_lim_up

Detailed Description

Kinematics solver (FK, IK) for Kuka LWR 4+.

Definition at line 49 of file velma_ik_geom.py.

Constructor & Destructor Documentation

__init__()

def velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.__init__

(

self

)

Initialization.

Definition at line 54 of file velma_ik_geom.py.

Member Function Documentation

calculateFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.calculateFk	(		self,
			q
	)

Calculate forward kinematics (FK) for Kuka LWR 4+.

Parameters

q	7-tuple: arm configuration.

Returns

PyKDL.Frame: pose of the last link wrt. the first link of the arm.

Definition at line 298 of file velma_ik_geom.py.

calculateIk()

def velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.calculateIk	(		self,
			T_A0_A7d,
			elbow_circle_angle,
			flip_shoulder,
			flip_elbow,
			flip_ee
	)

Calculate inverse kinematics (IK) for Kuka LWR 4+.

Parameters

T_A0_A7d	PyKDL.Frame: pose of the end-effector (the last link) wrt. the base of arm (the first link).
elbow_circle_angle	float: IK parameter.
flip_shoulder	bool: IK parameter.
flip_elbow	bool: IK parameter.
flip_ee	bool: IK parameter.

Returns

7-tuple: arm configuration or a tuple of Nones, if the solution does not exist.

Definition at line 244 of file velma_ik_geom.py.

calculateIkSet()

def velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.calculateIkSet	(		self,
			T_A0_A7d,
			elbow_circle_angles
	)

Calculate inverse kinematics (IK) for Kuka LWR 4+.

Parameters

T_A0_A7d	PyKDL.Frame: pose of the end-effector (the last link) wrt. the base of arm (the first link).
elbow_circle_angles	list of float: list of values for IK parameter: elbow_circle_angle (

See also

calculateIk).

Returns

list of 7-tuples: arm configurations.

Definition at line 273 of file velma_ik_geom.py.

getDebug()

def velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.getDebug	(		self,
			key
	)

Get some debug information after solving inverse kinematics.

Parameters

key	string: one of values: 'T_A0_A6d', 'pt_shoulder', 'elbow_pt'.

Returns

Value for the given key or None, if the key does not exist.

Definition at line 72 of file velma_ik_geom.py.

getLimits()

def velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.getLimits

(

self

)

Definition at line 69 of file velma_ik_geom.py.

Member Data Documentation

m_lim_lo

velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.m_lim_lo

Definition at line 66 of file velma_ik_geom.py.

m_lim_up

velma_kinematics.velma_ik_geom.KinematicsSolverLWR4.m_lim_up

Definition at line 67 of file velma_ik_geom.py.

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

• velma_system/velma_kinematics/src/velma_kinematics/velma_ik_geom.py