Kinematics solver (FK, IK) for WUT Velma robot. More...

Public Member Functions
def	__init__ (self)
	Initialize. More...

def	getArmShoulderPosition (self, side_str, torso_angle)
	Calculate forward kinematics for shoulder. More...

def	getLeftArmShoulderPosition (self, torso_angle)
	Calculate forward kinematics for left shoulder. More...

def	getRightArmShoulderPosition (self, torso_angle)
	Calculate forward kinematics for right shoulder. More...

def	getArmBaseFk (self, side_str, torso_angle)

def	getLeftArmBaseFk (self, torso_angle)
	Calculate forward kinematics for left arm base. More...

def	getRightArmBaseFk (self, torso_angle)
	Calculate forward kinematics for right arm base. More...

def	getArmFk (self, side_str, torso_angle, q)

def	getLeftArmFk (self, torso_angle, q)
	Calculate forward kinematics for left arm end-effector (the last link). More...

def	getRightArmFk (self, torso_angle, q)
	Calculate forward kinematics for right arm end-effector (the last link). More...

def	getLeft_T_E_G (self)
	Get constant transformation from the left end-effector (the last link, frame 'E') to the left grasp frame 'G' in the center of the left gripper. More...

def	getRight_T_E_G (self)
	Get constant transformation from the right end-effector (the last link, frame 'E') to the right grasp frame 'G' in the center of the right gripper. More...

def	getT_E_G (self, side_str)
	Get constant transformation from the the end-effector (the last link, frame 'E') to the grasp frame ('G', in the center of the gripper). More...

def	getLeft_T_E_P (self)
	Get constant transformation from the left end-effector (the last link, frame 'E') to the left palm link (frame 'P'). More...

def	getRight_T_E_P (self)
	Get constant transformation from the right end-effector (the last link, frame 'E') to the right palm link (frame 'P'). More...

def	getT_E_P (self, side_str)
	Get constant transformation from the end-effector (the last link, frame 'E') to the left palm link (frame 'P'). More...

def	getLeft_T_G_E (self)
	Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_E_G. More...

def	getRight_T_G_E (self)
	Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_E_G. More...

def	getT_G_E (self, side_str)
	Get constant transformation from the grasp frame 'G' in the center of the gripper to the end-effector (the last link, frame 'E'). More...

def	getLeft_T_P_E (self)
	Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_E_P. More...

def	getRight_T_P_E (self)
	Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_E_P. More...

def	calculateIkRightArm (self, T_B_W, torso_angle, elbow_circle_angle, flip_shoulder, flip_elbow, flip_ee)
	Calculate inverse kinematics (IK) for WUT Velma robot for right arm. More...

def	calculateIkLeftArm (self, T_B_Wr, torso_angle, elbow_circle_angle, flip_shoulder, flip_elbow, flip_ee)
	Calculate inverse kinematics (IK) for WUT Velma robot for left arm. More...

def	calculateIkArm (self, side_str, T_B_W, torso_angle, elbow_circle_angle, flip_shoulder, flip_elbow, flip_ee)
	Calculate inverse kinematics (IK) for WUT Velma robot arm. More...

def	calculateIkSet (self, side_str, T_B_W, torso_angle, elbow_circle_angles)

def	getArmLimits (self)

def	getTorsoLimits (self)

Detailed Description

Kinematics solver (FK, IK) for WUT Velma robot.

Definition at line 384 of file velma_ik_geom.py.

Constructor & Destructor Documentation

◆ init()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.__init__ ( self )

Initialize.

Definition at line 389 of file velma_ik_geom.py.

Member Function Documentation

◆ calculateIkArm()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.calculateIkArm	(	self,
		side_str,
		T_B_W,
		torso_angle,
		elbow_circle_angle,
		flip_shoulder,
		flip_elbow,
		flip_ee
	)

Calculate inverse kinematics (IK) for WUT Velma robot arm.

Parameters

side_str	string: either 'left' or 'right'.
T_B_W	PyKDL.Frame: pose of the end-effector (the last link) wrt. the robot base.
torso_angle	float: angle of the torso joint.
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 693 of file velma_ik_geom.py.

◆ calculateIkLeftArm()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.calculateIkLeftArm	(	self,
		T_B_Wr,
		torso_angle,
		elbow_circle_angle,
		flip_shoulder,
		flip_elbow,
		flip_ee
	)

Calculate inverse kinematics (IK) for WUT Velma robot for left arm.

See also: calculateIkArm

Definition at line 684 of file velma_ik_geom.py.

◆ calculateIkRightArm()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.calculateIkRightArm	(	self,
		T_B_W,
		torso_angle,
		elbow_circle_angle,
		flip_shoulder,
		flip_elbow,
		flip_ee
	)

Calculate inverse kinematics (IK) for WUT Velma robot for right arm.

See also: calculateIkArm

Definition at line 675 of file velma_ik_geom.py.

◆ calculateIkSet()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.calculateIkSet	(	self,
		side_str,
		T_B_W,
		torso_angle,
		elbow_circle_angles
	)

See also: KinematicsSolverLWR4.calculateIkSet

Definition at line 715 of file velma_ik_geom.py.

◆ getArmBaseFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getArmBaseFk	(	self,
		side_str,
		torso_angle
	)

Definition at line 452 of file velma_ik_geom.py.

◆ getArmFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getArmFk	(	self,
		side_str,
		torso_angle,
		q
	)

Definition at line 529 of file velma_ik_geom.py.

◆ getArmLimits()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getArmLimits ( self )

Definition at line 726 of file velma_ik_geom.py.

◆ getArmShoulderPosition()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getArmShoulderPosition	(	self,
		side_str,
		torso_angle
	)

Calculate forward kinematics for shoulder.

Parameters

side_str	string: either 'left' or 'right'.
torso_angle	float: angle of torso joint.

Returns: PyKDL.Frame: pose of the shoulder given by side_str.

Definition at line 413 of file velma_ik_geom.py.

◆ getLeft_T_E_G()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_E_G ( self )

Get constant transformation from the left end-effector (the last link, frame 'E') to the left grasp frame 'G' in the center of the left gripper.

Returns: PyKDL.Frame: pose of frame 'G' wrt. frame 'E'.

Definition at line 564 of file velma_ik_geom.py.

◆ getLeft_T_E_P()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_E_P ( self )

Get constant transformation from the left end-effector (the last link, frame 'E') to the left palm link (frame 'P').

Returns: PyKDL.Frame: pose of frame 'P' wrt. frame 'E'.

Definition at line 595 of file velma_ik_geom.py.

◆ getLeft_T_G_E()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_G_E ( self )

Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_E_G.

Returns: PyKDL.Frame: pose of frame 'E' wrt. frame 'G'.

Definition at line 627 of file velma_ik_geom.py.

◆ getLeft_T_P_E()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_P_E ( self )

Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeft_T_E_P.

Returns: PyKDL.Frame: pose of frame 'E' wrt. frame 'P'.

Definition at line 658 of file velma_ik_geom.py.

◆ getLeftArmBaseFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeftArmBaseFk	(	self,
		torso_angle
	)

Calculate forward kinematics for left arm base.

Parameters

torso_angle float: angle of torso joint.

Returns: PyKDL.Frame: pose of the left arm base.

Definition at line 460 of file velma_ik_geom.py.

◆ getLeftArmFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeftArmFk	(	self,
		torso_angle,
		q
	)

Calculate forward kinematics for left arm end-effector (the last link).

Parameters

torso_angle	float: angle of torso joint.
q	7-tuple: arm configuration.

Returns: PyKDL.Frame: pose of the left arm end-effector (the last link).

Definition at line 537 of file velma_ik_geom.py.

◆ getLeftArmShoulderPosition()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getLeftArmShoulderPosition	(	self,
		torso_angle
	)

Calculate forward kinematics for left shoulder.

Parameters

torso_angle float: angle of torso joint.

Returns: PyKDL.Frame: pose of the left shoulder.

Definition at line 430 of file velma_ik_geom.py.

◆ getRight_T_E_G()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_E_G ( self )

Get constant transformation from the right end-effector (the last link, frame 'E') to the right grasp frame 'G' in the center of the right gripper.

Returns: PyKDL.Frame: pose of frame 'G' wrt. frame 'E'.

Definition at line 572 of file velma_ik_geom.py.

◆ getRight_T_E_P()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_E_P ( self )

Get constant transformation from the right end-effector (the last link, frame 'E') to the right palm link (frame 'P').

Returns: PyKDL.Frame: pose of frame 'P' wrt. frame 'E'.

Definition at line 603 of file velma_ik_geom.py.

◆ getRight_T_G_E()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_G_E ( self )

Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_E_G.

Returns: PyKDL.Frame: pose of frame 'E' wrt. frame 'G'.

Definition at line 635 of file velma_ik_geom.py.

◆ getRight_T_P_E()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_P_E ( self )

Inverse of velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRight_T_E_P.

Returns: PyKDL.Frame: pose of frame 'E' wrt. frame 'P'.

Definition at line 666 of file velma_ik_geom.py.

◆ getRightArmBaseFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRightArmBaseFk	(	self,
		torso_angle
	)

Calculate forward kinematics for right arm base.

Parameters

torso_angle float: angle of torso joint.

Returns: PyKDL.Frame: pose of the right arm base.

Definition at line 494 of file velma_ik_geom.py.

◆ getRightArmFk()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRightArmFk	(	self,
		torso_angle,
		q
	)

Calculate forward kinematics for right arm end-effector (the last link).

Parameters

torso_angle	float: angle of torso joint.
q	7-tuple: arm configuration.

Returns: PyKDL.Frame: pose of the right arm end-effector (the last link).

Definition at line 551 of file velma_ik_geom.py.

◆ getRightArmShoulderPosition()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getRightArmShoulderPosition	(	self,
		torso_angle
	)

Calculate forward kinematics for right shoulder.

Parameters

torso_angle float: angle of torso joint.

Returns: PyKDL.Frame: pose of the right shoulder.

Definition at line 441 of file velma_ik_geom.py.

◆ getT_E_G()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getT_E_G	(	self,
		side_str
	)

Get constant transformation from the the end-effector (the last link, frame 'E') to the grasp frame ('G', in the center of the gripper).

Parameters

side_str str: either 'left' or 'right'.

Returns: PyKDL.Frame: pose of frame 'E' wrt. frame 'G'.

Definition at line 580 of file velma_ik_geom.py.

◆ getT_E_P()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getT_E_P	(	self,
		side_str
	)

Get constant transformation from the end-effector (the last link, frame 'E') to the left palm link (frame 'P').

Parameters

side_str str: either 'left' or 'right'.

Returns: PyKDL.Frame: pose of frame 'P' wrt. frame 'E'.

Definition at line 611 of file velma_ik_geom.py.

◆ getT_G_E()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getT_G_E	(	self,
		side_str
	)

Get constant transformation from the grasp frame 'G' in the center of the gripper to the end-effector (the last link, frame 'E').

Parameters

side_str str: either 'left' or 'right'.

Returns: PyKDL.Frame: pose of frame 'E' wrt. frame 'G'.

Definition at line 643 of file velma_ik_geom.py.

◆ getTorsoLimits()

def velma_kinematics.velma_ik_geom.KinematicsSolverVelma.getTorsoLimits ( self )

Definition at line 729 of file velma_ik_geom.py.

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

velma_system/velma_kinematics/src/velma_kinematics/velma_ik_geom.py

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ calculateIkArm()

◆ calculateIkLeftArm()

◆ calculateIkRightArm()

◆ calculateIkSet()

◆ getArmBaseFk()

◆ getArmFk()

◆ getArmLimits()

◆ getArmShoulderPosition()

◆ getLeft_T_E_G()

◆ getLeft_T_E_P()

◆ getLeft_T_G_E()

◆ getLeft_T_P_E()

◆ getLeftArmBaseFk()

◆ getLeftArmFk()

◆ getLeftArmShoulderPosition()

◆ getRight_T_E_G()

◆ getRight_T_E_P()

◆ getRight_T_G_E()

◆ getRight_T_P_E()

◆ getRightArmBaseFk()

◆ getRightArmFk()

◆ getRightArmShoulderPosition()

◆ getT_E_G()

◆ getT_E_P()

◆ getT_G_E()

◆ getTorsoLimits()

◆ init()