Public Member Functions
	__init__ (self)
	checkCollision (self, pairIndex)
	collisionJacobian (self, pairIndex, q)
	createHand (self, root_id=0, prefix="", joint_placement=None)
	display (self, q)
	displayCollision (self, pairIndex, meshIndex, onlyOne=False)

Public Attributes
list	collisionPairs = []
	data = self.model.createData()
	model = pin.Model()
	q0 = zero(self.model.nq)
	v0 = zero(self.model.nv)
	viewer = Display()
list	visuals = []

Detailed Description

Define a class Robot with 7DOF (shoulder=3 + elbow=1 + wrist=3).
The configuration is nq=7. The velocity is the same.
The members of the class are:
* viewer: a display encapsulating a gepetto viewer client to create 3D objects and
  place them.
* model: the kinematic tree of the robot.
* data: the temporary variables to be used by the kinematic algorithms.
* visuals: the list of all the 'visual' 3D objects to render the robot, each element
  of the list being an object Visual (see above).

CollisionPairs is a list of visual indexes.
Reference to the collision pair is used in the collision test and jacobian of the
collision (which are simply proxy method to methods of the visual class).

Definition at line 134 of file robot_hand.py.

Constructor & Destructor Documentation

◆ init()

__init__ ( self )

Definition at line 151 of file robot_hand.py.

Member Function Documentation

◆ checkCollision()

checkCollision	(		self,
			pairIndex )

Definition at line 378 of file robot_hand.py.

◆ collisionJacobian()

collisionJacobian	(	self,
		pairIndex,
		q )

Definition at line 385 of file robot_hand.py.

◆ createHand()

createHand	(	self,
		root_id = 0,
		prefix = "",
		joint_placement = None )

Definition at line 162 of file robot_hand.py.

◆ display()

display	(		self,
			q )

Definition at line 400 of file robot_hand.py.

◆ displayCollision()

displayCollision	(	self,
		pairIndex,
		meshIndex,
		onlyOne = False )

Definition at line 391 of file robot_hand.py.

Member Data Documentation

◆ collisionPairs

list collisionPairs = []

Definition at line 160 of file robot_hand.py.

◆ data

data = self.model.createData()

Definition at line 156 of file robot_hand.py.

◆ model

model = pin.Model()

Definition at line 154 of file robot_hand.py.

◆ q0

q0 = zero(self.model.nq)

Definition at line 157 of file robot_hand.py.

◆ v0

v0 = zero(self.model.nv)

Definition at line 159 of file robot_hand.py.

◆ viewer

viewer = Display()

Definition at line 152 of file robot_hand.py.

◆ visuals

list visuals = []

Definition at line 153 of file robot_hand.py.

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

doc/d-practical-exercises/src/robot_hand.py

Public Member Functions

Public Attributes