amino.kinematics.SceneDK Class Reference

Public Member Functions
def	__init__ (self, sub_scenegraph, scene_fk)
def	__del__ (self)
def	ref_tf (self)
	Reference pose.
def	ref_tf (self, tf)
def	ref_tf_vel (self)
	Reference pose velocity.
def	ref_tf_vel (self, dx)
def	ref_config_all (self)
	Reference configuration.
def	ref_config_all (self, value)
	Reference configuration.
def	solve_vel (self, dq=None)
	Solve for velocity. More...

Public Attributes
	ssg
	fk
	opts
	dx

Static Public Attributes
	restype
	argtypes

Detailed Description

Definition at line 143 of file kinematics.py.

Member Function Documentation

solve_vel()

def amino.kinematics.SceneDK.solve_vel	(		self,
			dq = None
	)

Solve for velocity.

Returns

sub-scenegraph configuration velocity or None if no solution.

Definition at line 203 of file kinematics.py.

---

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

• /home/ntd/git/amino/python/amino/kinematics.py