pybotics.kinematic_chain module¶
Kinematic chain module.
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class
pybotics.kinematic_chain.
KinematicChain
[source]¶ Bases:
collections.abc.Sized
,typing.Generic
An assembly of rigid bodies connected by joints.
Provides constrained (or desired) motion that is the mathematical model for a mechanical system.
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links
¶ Get links.
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matrix
¶ Convert chain to matrix of link parameters.
Rows = links Columns = parameters
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ndof
¶ Get number of degrees of freedom.
Returns: number of degrees of freedom
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num_parameters
¶ Get number of parameters of all links.
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transforms
(q: Optional[numpy.ndarray[Any, numpy.dtype[numpy.float64]]] = None) → Sequence[numpy.ndarray[Any, numpy.dtype[numpy.float64]]][source]¶ Generate a sequence of spatial transforms.
The sequence represents the given position of the kinematic chain. :param q: given position of kinematic chain :return: sequence of transforms
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vector
¶ Get the vector representation of the kinematic chain.
Returns: vectorized kinematic chain
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class
pybotics.kinematic_chain.
MDHKinematicChain
(links: Sequence[pybotics.link.MDHLink])[source]¶ Bases:
pybotics.kinematic_chain.KinematicChain
Kinematic Chain of MDH links.
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classmethod
from_parameters
(parameters: numpy.ndarray[Any, numpy.dtype[numpy.float64]]) → Any[source]¶ Construct Kinematic Chain from parameters.
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links
¶ Get links.
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matrix
¶ Convert chain to matrix of link parameters.
Rows = links Columns = parameters
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ndof
¶ Get number of degrees of freedom.
Returns: number of degrees of freedom
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num_parameters
¶ Get number of parameters of all links.
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to_json
() → str¶ Encode model as JSON.
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transforms
(q: Optional[numpy.ndarray[Any, numpy.dtype[numpy.float64]]] = None) → Sequence[numpy.ndarray[Any, numpy.dtype[numpy.float64]]][source]¶ Get sequence of 4x4 transforms.
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vector
¶ Get parameters of all links.
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classmethod