pybotics.optimization module¶
Optimization module.
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class
pybotics.optimization.
OptimizationHandler
(robot: pybotics.robot.Robot, kinematic_chain_mask: MutableSequence[bool] = False, tool_mask: MutableSequence[bool] = False, world_mask: MutableSequence[bool] = False)[source]¶ Bases:
object
Handler for optimization tasks.
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pybotics.optimization.
compute_absolute_error
(q: numpy.ndarray[Any, numpy.dtype[numpy.float64]], position: numpy.ndarray[Any, numpy.dtype[numpy.float64]], robot: pybotics.robot.Robot) → float[source]¶ Compute the absolute error of a given position.
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pybotics.optimization.
compute_absolute_errors
(qs: numpy.ndarray[Any, numpy.dtype[numpy.float64]], positions: numpy.ndarray[Any, numpy.dtype[numpy.float64]], robot: pybotics.robot.Robot) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Compute the absolute errors of a given set of positions.
Parameters: - qs – Array of joints, shape=(n-poses, n-dof) [rad]
- positions – Array of Cartesian positions, shape=(n-poses, 3)
- robot – Robot model
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pybotics.optimization.
compute_relative_error
(q_a: numpy.ndarray[Any, numpy.dtype[numpy.float64]], q_b: numpy.ndarray[Any, numpy.dtype[numpy.float64]], distance: float, robot: pybotics.robot.Robot) → float[source]¶ Compute the relative error of a given position combination.
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pybotics.optimization.
compute_relative_errors
(qs_a: numpy.ndarray[Any, numpy.dtype[numpy.float64]], qs_b: numpy.ndarray[Any, numpy.dtype[numpy.float64]], distances: numpy.ndarray[Any, numpy.dtype[numpy.float64]], robot: pybotics.robot.Robot) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Compute the relative errors of a given set of position combinations.
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pybotics.optimization.
optimize_accuracy
(optimization_vector: numpy.ndarray[Any, numpy.dtype[numpy.float64]], handler: pybotics.optimization.OptimizationHandler, qs: numpy.ndarray[Any, numpy.dtype[numpy.float64]], positions: numpy.ndarray[Any, numpy.dtype[numpy.float64]]) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Fitness function for accuracy optimization.