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- mrpt.pymrpt.mrpt.Stringifyable(pybind11_builtins.pybind11_object)
-
- CVehicleVelCmd(mrpt.pymrpt.mrpt.serialization.CSerializable, mrpt.pymrpt.mrpt.Stringifyable)
-
- CVehicleVelCmd_DiffDriven
- CVehicleVelCmd_Holo
- mrpt.pymrpt.mrpt.serialization.CSerializable(mrpt.pymrpt.mrpt.rtti.CObject)
-
- CKinematicChain
- CVehicleVelCmd(mrpt.pymrpt.mrpt.serialization.CSerializable, mrpt.pymrpt.mrpt.Stringifyable)
-
- CVehicleVelCmd_DiffDriven
- CVehicleVelCmd_Holo
- pybind11_builtins.pybind11_object(builtins.object)
-
- CVehicleSimulVirtualBase
-
- CVehicleSimul_DiffDriven
- CVehicleSimul_Holo
- TKinematicLink
class CKinematicChain(mrpt.pymrpt.mrpt.serialization.CSerializable) |
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A open-loop kinematic chain model, suitable to robotic manipulators.
Each link is parameterized with standard Denavit-Hartenberg standard
parameterization [theta, d, a, alpha].
The orientation of the first link can be modified with setOriginPose(),
which defaults to standard XYZ axes with +Z pointing upwards.
CPose3D
|
| |
- Method resolution order:
- CKinematicChain
- mrpt.pymrpt.mrpt.serialization.CSerializable
- mrpt.pymrpt.mrpt.rtti.CObject
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- GetRuntimeClass(...)
- GetRuntimeClass(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CKinematicChain::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, arg0: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> None
3. __init__(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, arg0: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> None
- addLink(...)
- addLink(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, theta: float, d: float, a: float, alpha: float, is_prismatic: bool) -> None
Appends a new link to the robotic arm, with the given Denavit-Hartenberg
parameters (see TKinematicLink for further details)
C++: mrpt::kinematics::CKinematicChain::addLink(double, double, double, double, bool) --> void
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, : mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> mrpt.pymrpt.mrpt.kinematics.CKinematicChain
C++: mrpt::kinematics::CKinematicChain::operator=(const class mrpt::kinematics::CKinematicChain &) --> class mrpt::kinematics::CKinematicChain &
- clear(...)
- clear(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> None
Erases all links and leave the robot arm empty.
C++: mrpt::kinematics::CKinematicChain::clear() --> void
- clone(...)
- clone(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> mrpt.pymrpt.mrpt.rtti.CObject
C++: mrpt::kinematics::CKinematicChain::clone() const --> class mrpt::rtti::CObject *
- getLink(...)
- getLink(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, idx: int) -> mrpt.pymrpt.mrpt.kinematics.TKinematicLink
Get a ref to a given link (read-only)
C++: mrpt::kinematics::CKinematicChain::getLink(size_t) const --> const struct mrpt::kinematics::TKinematicLink &
- getLinkRef(...)
- getLinkRef(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, idx: int) -> mrpt.pymrpt.mrpt.kinematics.TKinematicLink
Get a ref to a given link (read-write)
C++: mrpt::kinematics::CKinematicChain::getLinkRef(size_t) --> struct mrpt::kinematics::TKinematicLink &
- getOriginPose(...)
- getOriginPose(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> mrpt.pymrpt.mrpt.poses.CPose3D
Returns the current pose of the first link.
C++: mrpt::kinematics::CKinematicChain::getOriginPose() const --> const class mrpt::poses::CPose3D &
- removeLink(...)
- removeLink(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, idx: int) -> None
Removes one link from the kinematic chain (0<=idx<N)
C++: mrpt::kinematics::CKinematicChain::removeLink(size_t) --> void
- setOriginPose(...)
- setOriginPose(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain, new_pose: mrpt.pymrpt.mrpt.poses.CPose3D) -> None
Can be used to define a first degree of freedom along a +Z axis which
does not coincide with the global +Z axis.
C++: mrpt::kinematics::CKinematicChain::setOriginPose(const class mrpt::poses::CPose3D &) --> void
- size(...)
- size(self: mrpt.pymrpt.mrpt.kinematics.CKinematicChain) -> int
Return the number of links
C++: mrpt::kinematics::CKinematicChain::size() const --> size_t
Static methods defined here:
- CreateObject(...) from builtins.PyCapsule
- CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
C++: mrpt::kinematics::CKinematicChain::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
- GetRuntimeClassIdStatic(...) from builtins.PyCapsule
- GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CKinematicChain::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
- duplicateGetSmartPtr(...)
- duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
Makes a deep copy of the object and returns a smart pointer to it
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
|
class CVehicleSimulVirtualBase(pybind11_builtins.pybind11_object) |
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This class can be used to simulate the kinematics and dynamics of a
differential driven planar mobile robot, including odometry errors and
dynamics limitations.
Main API methods are:
- movementCommand: Call this for send a command to the robot. This comamnd
will be
delayed and passed throught a first order low-pass filter to simulate
robot dynamics.
- simulateInterval: Call this for run the simulator for the desired time
period.
|
| |
- Method resolution order:
- CVehicleSimulVirtualBase
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, : mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase
C++: mrpt::kinematics::CVehicleSimulVirtualBase::operator=(const class mrpt::kinematics::CVehicleSimulVirtualBase &) --> class mrpt::kinematics::CVehicleSimulVirtualBase &
- getCurrentGTPose(...)
- getCurrentGTPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.math.TPose2D
Returns the instantaneous, ground truth pose in world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose() const --> const struct mrpt::math::TPose2D &
- getCurrentGTVel(...)
- getCurrentGTVel(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in
world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel() const --> const struct mrpt::math::TTwist2D &
- getCurrentGTVelLocal(...)
- getCurrentGTVelLocal(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in
the robot local frame
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal() const --> struct mrpt::math::TTwist2D
- getCurrentOdometricPose(...)
- getCurrentOdometricPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.math.TPose2D
Returns the current pose according to (noisy) odometry
setOdometryErrors
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose() const --> const struct mrpt::math::TPose2D &
- getCurrentOdometricVel(...)
- getCurrentOdometricVel(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, odometric velocity vector (vx,vy,omega) in
world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVel() const --> const struct mrpt::math::TTwist2D &
- getCurrentOdometricVelLocal(...)
- getCurrentOdometricVelLocal(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, odometric velocity vector (vx,vy,omega) in
the robot local frame
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal() const --> struct mrpt::math::TTwist2D
- getTime(...)
- getTime(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> float
Get the current simulation time
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getTime() const --> double
- getVelCmdType(...)
- getVelCmdType(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
Gets an empty velocity command object that can be queried to find out
the number of velcmd components,...
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getVelCmdType() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
- resetStatus(...)
- resetStatus(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
C++: mrpt::kinematics::CVehicleSimulVirtualBase::resetStatus() --> void
- resetTime(...)
- resetTime(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
Reset all simulator variables to 0 (except the
simulation time).
resetTime
Reset time counter
resetStatus
C++: mrpt::kinematics::CVehicleSimulVirtualBase::resetTime() --> void
- sendVelCmd(...)
- sendVelCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, cmd_vel: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> None
Sends a velocity command to the robot. The number of components and
their meaning depends
on the vehicle-kinematics derived class
C++: mrpt::kinematics::CVehicleSimulVirtualBase::sendVelCmd(const class mrpt::kinematics::CVehicleVelCmd &) --> void
- setCurrentGTPose(...)
- setCurrentGTPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, pose: mrpt.pymrpt.mrpt.math.TPose2D) -> None
Brute-force move robot to target coordinates ("teleport")
C++: mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentGTPose(const struct mrpt::math::TPose2D &) --> void
- setOdometryErrors(...)
- setOdometryErrors(*args, **kwargs)
Overloaded function.
1. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool) -> None
2. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float) -> None
3. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float) -> None
4. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float) -> None
5. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float) -> None
6. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float, Aphi_err_bias: float) -> None
7. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float, Aphi_err_bias: float, Aphi_err_std: float) -> None
Enable/Disable odometry errors. Errors in odometry are 1 sigma Gaussian
values per second
C++: mrpt::kinematics::CVehicleSimulVirtualBase::setOdometryErrors(bool, double, double, double, double, double, double) --> void
- simulateOneTimeStep(...)
- simulateOneTimeStep(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, dt: float) -> None
@{
Runs the simulator during "dt" seconds. It will be split into periods of
"m_firmware_control_period".
C++: mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(const double) --> void
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
|
class CVehicleSimul_DiffDriven(CVehicleSimulVirtualBase) |
| |
Simulates the kinematics of a differential-driven planar mobile
robot/vehicle, including odometry errors and dynamics limitations.
|
| |
- Method resolution order:
- CVehicleSimul_DiffDriven
- CVehicleSimulVirtualBase
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> None
3. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> None
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, : mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::operator=(const class mrpt::kinematics::CVehicleSimul_DiffDriven &) --> class mrpt::kinematics::CVehicleSimul_DiffDriven &
- getV(...)
- getV(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> float
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::getV() --> double
- getVelCmdType(...)
- getVelCmdType(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::getVelCmdType() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
- getW(...)
- getW(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> float
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::getW() --> double
- movementCommand(...)
- movementCommand(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, lin_vel: float, ang_vel: float) -> None
Used to command the robot a desired movement:
Linar velocity (m/s)
Angular velocity (rad/s)
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::movementCommand(double, double) --> void
- sendVelCmd(...)
- sendVelCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, cmd_vel: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> None
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(const class mrpt::kinematics::CVehicleVelCmd &) --> void
- setDelayModelParams(...)
- setDelayModelParams(*args, **kwargs)
Overloaded function.
1. setDelayModelParams(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> None
2. setDelayModelParams(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, TAU_delay_sec: float) -> None
3. setDelayModelParams(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, TAU_delay_sec: float, CMD_delay_sec: float) -> None
Change the model of delays used for the orders sent to the robot
movementCommand
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::setDelayModelParams(double, double) --> void
- setV(...)
- setV(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, v: float) -> None
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::setV(double) --> void
- setW(...)
- setW(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven, w: float) -> None
C++: mrpt::kinematics::CVehicleSimul_DiffDriven::setW(double) --> void
Methods inherited from CVehicleSimulVirtualBase:
- getCurrentGTPose(...)
- getCurrentGTPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.math.TPose2D
Returns the instantaneous, ground truth pose in world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose() const --> const struct mrpt::math::TPose2D &
- getCurrentGTVel(...)
- getCurrentGTVel(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in
world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel() const --> const struct mrpt::math::TTwist2D &
- getCurrentGTVelLocal(...)
- getCurrentGTVelLocal(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in
the robot local frame
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal() const --> struct mrpt::math::TTwist2D
- getCurrentOdometricPose(...)
- getCurrentOdometricPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.math.TPose2D
Returns the current pose according to (noisy) odometry
setOdometryErrors
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose() const --> const struct mrpt::math::TPose2D &
- getCurrentOdometricVel(...)
- getCurrentOdometricVel(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, odometric velocity vector (vx,vy,omega) in
world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVel() const --> const struct mrpt::math::TTwist2D &
- getCurrentOdometricVelLocal(...)
- getCurrentOdometricVelLocal(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, odometric velocity vector (vx,vy,omega) in
the robot local frame
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal() const --> struct mrpt::math::TTwist2D
- getTime(...)
- getTime(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> float
Get the current simulation time
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getTime() const --> double
- resetStatus(...)
- resetStatus(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
C++: mrpt::kinematics::CVehicleSimulVirtualBase::resetStatus() --> void
- resetTime(...)
- resetTime(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
Reset all simulator variables to 0 (except the
simulation time).
resetTime
Reset time counter
resetStatus
C++: mrpt::kinematics::CVehicleSimulVirtualBase::resetTime() --> void
- setCurrentGTPose(...)
- setCurrentGTPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, pose: mrpt.pymrpt.mrpt.math.TPose2D) -> None
Brute-force move robot to target coordinates ("teleport")
C++: mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentGTPose(const struct mrpt::math::TPose2D &) --> void
- setOdometryErrors(...)
- setOdometryErrors(*args, **kwargs)
Overloaded function.
1. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool) -> None
2. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float) -> None
3. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float) -> None
4. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float) -> None
5. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float) -> None
6. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float, Aphi_err_bias: float) -> None
7. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float, Aphi_err_bias: float, Aphi_err_std: float) -> None
Enable/Disable odometry errors. Errors in odometry are 1 sigma Gaussian
values per second
C++: mrpt::kinematics::CVehicleSimulVirtualBase::setOdometryErrors(bool, double, double, double, double, double, double) --> void
- simulateOneTimeStep(...)
- simulateOneTimeStep(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, dt: float) -> None
@{
Runs the simulator during "dt" seconds. It will be split into periods of
"m_firmware_control_period".
C++: mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(const double) --> void
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
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class CVehicleSimul_Holo(CVehicleSimulVirtualBase) |
| |
Kinematic simulator of a holonomic 2D robot capable of moving in any
direction, with "blended"
velocity profiles. See CVehicleSimul_Holo::sendVelCmd() for a description of
the velocity commands in this kinematic model.
|
| |
- Method resolution order:
- CVehicleSimul_Holo
- CVehicleSimulVirtualBase
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo) -> None
3. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo) -> None
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo, : mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo) -> mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo
C++: mrpt::kinematics::CVehicleSimul_Holo::operator=(const class mrpt::kinematics::CVehicleSimul_Holo &) --> class mrpt::kinematics::CVehicleSimul_Holo &
- getVelCmdType(...)
- getVelCmdType(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
C++: mrpt::kinematics::CVehicleSimul_Holo::getVelCmdType() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
- sendVelCmd(...)
- sendVelCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo, cmd_vel: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> None
C++: mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(const class mrpt::kinematics::CVehicleVelCmd &) --> void
- sendVelRampCmd(...)
- sendVelRampCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo, vel: float, dir: float, ramp_time: float, rot_speed: float) -> None
Sends a velocity cmd to the holonomic robot.
Linear speed (m/s)
Direction (rad) (In the odometry frame of reference)
Blend the cmd during this period (seconds)
Rotational speed while there is heading error and
to this constant (rad/s)
C++: mrpt::kinematics::CVehicleSimul_Holo::sendVelRampCmd(double, double, double, double) --> void
Methods inherited from CVehicleSimulVirtualBase:
- getCurrentGTPose(...)
- getCurrentGTPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.math.TPose2D
Returns the instantaneous, ground truth pose in world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose() const --> const struct mrpt::math::TPose2D &
- getCurrentGTVel(...)
- getCurrentGTVel(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in
world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel() const --> const struct mrpt::math::TTwist2D &
- getCurrentGTVelLocal(...)
- getCurrentGTVelLocal(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in
the robot local frame
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal() const --> struct mrpt::math::TTwist2D
- getCurrentOdometricPose(...)
- getCurrentOdometricPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt.pymrpt.mrpt.math.TPose2D
Returns the current pose according to (noisy) odometry
setOdometryErrors
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose() const --> const struct mrpt::math::TPose2D &
- getCurrentOdometricVel(...)
- getCurrentOdometricVel(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, odometric velocity vector (vx,vy,omega) in
world coordinates
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVel() const --> const struct mrpt::math::TTwist2D &
- getCurrentOdometricVelLocal(...)
- getCurrentOdometricVelLocal(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> mrpt::math::TTwist2D
Returns the instantaneous, odometric velocity vector (vx,vy,omega) in
the robot local frame
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal() const --> struct mrpt::math::TTwist2D
- getTime(...)
- getTime(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> float
Get the current simulation time
C++: mrpt::kinematics::CVehicleSimulVirtualBase::getTime() const --> double
- resetStatus(...)
- resetStatus(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
C++: mrpt::kinematics::CVehicleSimulVirtualBase::resetStatus() --> void
- resetTime(...)
- resetTime(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase) -> None
Reset all simulator variables to 0 (except the
simulation time).
resetTime
Reset time counter
resetStatus
C++: mrpt::kinematics::CVehicleSimulVirtualBase::resetTime() --> void
- setCurrentGTPose(...)
- setCurrentGTPose(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, pose: mrpt.pymrpt.mrpt.math.TPose2D) -> None
Brute-force move robot to target coordinates ("teleport")
C++: mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentGTPose(const struct mrpt::math::TPose2D &) --> void
- setOdometryErrors(...)
- setOdometryErrors(*args, **kwargs)
Overloaded function.
1. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool) -> None
2. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float) -> None
3. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float) -> None
4. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float) -> None
5. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float) -> None
6. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float, Aphi_err_bias: float) -> None
7. setOdometryErrors(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, enabled: bool, Ax_err_bias: float, Ax_err_std: float, Ay_err_bias: float, Ay_err_std: float, Aphi_err_bias: float, Aphi_err_std: float) -> None
Enable/Disable odometry errors. Errors in odometry are 1 sigma Gaussian
values per second
C++: mrpt::kinematics::CVehicleSimulVirtualBase::setOdometryErrors(bool, double, double, double, double, double, double) --> void
- simulateOneTimeStep(...)
- simulateOneTimeStep(self: mrpt.pymrpt.mrpt.kinematics.CVehicleSimulVirtualBase, dt: float) -> None
@{
Runs the simulator during "dt" seconds. It will be split into periods of
"m_firmware_control_period".
C++: mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(const double) --> void
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
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class CVehicleVelCmd(mrpt.pymrpt.mrpt.serialization.CSerializable, mrpt.pymrpt.mrpt.Stringifyable) |
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Virtual base for velocity commands of different kinematic models of planar
mobile robot.
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- Method resolution order:
- CVehicleVelCmd
- mrpt.pymrpt.mrpt.serialization.CSerializable
- mrpt.pymrpt.mrpt.rtti.CObject
- mrpt.pymrpt.mrpt.Stringifyable
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- GetRuntimeClass(...)
- GetRuntimeClass(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CVehicleVelCmd::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> None
- asString(...)
- asString(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> str
Returns a human readable description of the cmd
C++: mrpt::kinematics::CVehicleVelCmd::asString() const --> std::string
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, other: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
C++: mrpt::kinematics::CVehicleVelCmd::operator=(const class mrpt::kinematics::CVehicleVelCmd &) --> class mrpt::kinematics::CVehicleVelCmd &
- cmdVel_limits(...)
- cmdVel_limits(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, prev_vel_cmd: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, beta: float, params: mrpt::kinematics::CVehicleVelCmd::TVelCmdParams) -> float
Updates this command, computing a blended version of `beta` (within
[0,1]) of `vel_cmd` and `1-beta` of `prev_vel_cmd`, simultaneously
to honoring any user-side maximum velocities.
The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if
none.
C++: mrpt::kinematics::CVehicleVelCmd::cmdVel_limits(const class mrpt::kinematics::CVehicleVelCmd &, const double, const struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &) --> double
- cmdVel_scale(...)
- cmdVel_scale(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, vel_scale: float) -> None
Scale the velocity command encoded in this object.
A scale within [0,1] reflecting how much should be
the raw velocity command be lessen (e.g. for safety reasons,...).
Users can directly inherit from existing implementations instead of
manually redefining this method:
- mrpt::kinematics::CVehicleVelCmd_DiffDriven
- mrpt::kinematics::CVehicleVelCmd_Holo
C++: mrpt::kinematics::CVehicleVelCmd::cmdVel_scale(double) --> void
- getVelCmdDescription(...)
- getVelCmdDescription(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, index: int) -> str
Get textual, human-readable description of each velocity command
component
C++: mrpt::kinematics::CVehicleVelCmd::getVelCmdDescription(const int) const --> std::string
- getVelCmdElement(...)
- getVelCmdElement(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, index: int) -> float
Get each velocity command component
C++: mrpt::kinematics::CVehicleVelCmd::getVelCmdElement(const int) const --> double
- getVelCmdLength(...)
- getVelCmdLength(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> int
Get number of components in each velocity command
C++: mrpt::kinematics::CVehicleVelCmd::getVelCmdLength() const --> size_t
- isStopCmd(...)
- isStopCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> bool
Returns true if the command means "do not move" / "stop".
setToStop
C++: mrpt::kinematics::CVehicleVelCmd::isStopCmd() const --> bool
- setToStop(...)
- setToStop(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> None
Set to a command that means "do not move" / "stop".
isStopCmd
C++: mrpt::kinematics::CVehicleVelCmd::setToStop() --> void
- setVelCmdElement(...)
- setVelCmdElement(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, index: int, val: float) -> None
Set each velocity command component
C++: mrpt::kinematics::CVehicleVelCmd::setVelCmdElement(const int, const double) --> void
Static methods defined here:
- GetRuntimeClassIdStatic(...) from builtins.PyCapsule
- GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CVehicleVelCmd::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Data and other attributes defined here:
- TVelCmdParams = <class 'mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams'>
- Parameters that may be used by cmdVel_limits() in any derived classes.
Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
- clone(...)
- clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
Returns a deep copy (clone) of the object, indepently of its class.
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
- duplicateGetSmartPtr(...)
- duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
Makes a deep copy of the object and returns a smart pointer to it
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
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class CVehicleVelCmd_DiffDriven(CVehicleVelCmd) |
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Kinematic model for Ackermann-like or differential-driven vehicles.
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- Method resolution order:
- CVehicleVelCmd_DiffDriven
- CVehicleVelCmd
- mrpt.pymrpt.mrpt.serialization.CSerializable
- mrpt.pymrpt.mrpt.rtti.CObject
- mrpt.pymrpt.mrpt.Stringifyable
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- GetRuntimeClass(...)
- GetRuntimeClass(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> None
3. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> None
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, : mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator=(const class mrpt::kinematics::CVehicleVelCmd_DiffDriven &) --> class mrpt::kinematics::CVehicleVelCmd_DiffDriven &
- clone(...)
- clone(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> mrpt.pymrpt.mrpt.rtti.CObject
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::clone() const --> class mrpt::rtti::CObject *
- cmdVel_limits(...)
- cmdVel_limits(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, prev_vel_cmd: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, beta: float, params: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams) -> float
See base class docs.
Tecognizes these parameters: `robotMax_V_mps`, `robotMax_W_degps`
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::cmdVel_limits(const class mrpt::kinematics::CVehicleVelCmd &, const double, const struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &) --> double
- cmdVel_scale(...)
- cmdVel_scale(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, vel_scale: float) -> None
See docs of method in base class. The implementation for
differential-driven robots of this method
just multiplies all the components of vel_cmd times vel_scale, which is
appropriate
for differential-driven kinematic models (v,w).
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::cmdVel_scale(double) --> void
- getVelCmdDescription(...)
- getVelCmdDescription(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, index: int) -> str
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::getVelCmdDescription(const int) const --> std::string
- getVelCmdElement(...)
- getVelCmdElement(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, index: int) -> float
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::getVelCmdElement(const int) const --> double
- getVelCmdLength(...)
- getVelCmdLength(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> int
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::getVelCmdLength() const --> size_t
- isStopCmd(...)
- isStopCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> bool
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::isStopCmd() const --> bool
- setToStop(...)
- setToStop(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven) -> None
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::setToStop() --> void
- setVelCmdElement(...)
- setVelCmdElement(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_DiffDriven, index: int, val: float) -> None
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::setVelCmdElement(const int, const double) --> void
Static methods defined here:
- CreateObject(...) from builtins.PyCapsule
- CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
- GetRuntimeClassIdStatic(...) from builtins.PyCapsule
- GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CVehicleVelCmd_DiffDriven::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Data descriptors defined here:
- ang_vel
- lin_vel
Methods inherited from CVehicleVelCmd:
- asString(...)
- asString(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> str
Returns a human readable description of the cmd
C++: mrpt::kinematics::CVehicleVelCmd::asString() const --> std::string
Data and other attributes inherited from CVehicleVelCmd:
- TVelCmdParams = <class 'mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams'>
- Parameters that may be used by cmdVel_limits() in any derived classes.
Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
- duplicateGetSmartPtr(...)
- duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
Makes a deep copy of the object and returns a smart pointer to it
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
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class CVehicleVelCmd_Holo(CVehicleVelCmd) |
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Kinematic model for
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- Method resolution order:
- CVehicleVelCmd_Holo
- CVehicleVelCmd
- mrpt.pymrpt.mrpt.serialization.CSerializable
- mrpt.pymrpt.mrpt.rtti.CObject
- mrpt.pymrpt.mrpt.Stringifyable
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- GetRuntimeClass(...)
- GetRuntimeClass(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, vel: float, dir_local: float, ramp_time: float, rot_speed: float) -> None
3. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> None
4. __init__(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, arg0: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> None
- assign(...)
- assign(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, : mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo
C++: mrpt::kinematics::CVehicleVelCmd_Holo::operator=(const class mrpt::kinematics::CVehicleVelCmd_Holo &) --> class mrpt::kinematics::CVehicleVelCmd_Holo &
- clone(...)
- clone(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> mrpt.pymrpt.mrpt.rtti.CObject
C++: mrpt::kinematics::CVehicleVelCmd_Holo::clone() const --> class mrpt::rtti::CObject *
- cmdVel_limits(...)
- cmdVel_limits(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, prev_vel_cmd: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd, beta: float, params: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams) -> float
C++: mrpt::kinematics::CVehicleVelCmd_Holo::cmdVel_limits(const class mrpt::kinematics::CVehicleVelCmd &, const double, const struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &) --> double
- cmdVel_scale(...)
- cmdVel_scale(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, vel_scale: float) -> None
C++: mrpt::kinematics::CVehicleVelCmd_Holo::cmdVel_scale(double) --> void
- getVelCmdDescription(...)
- getVelCmdDescription(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, index: int) -> str
C++: mrpt::kinematics::CVehicleVelCmd_Holo::getVelCmdDescription(const int) const --> std::string
- getVelCmdElement(...)
- getVelCmdElement(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, index: int) -> float
C++: mrpt::kinematics::CVehicleVelCmd_Holo::getVelCmdElement(const int) const --> double
- getVelCmdLength(...)
- getVelCmdLength(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> int
C++: mrpt::kinematics::CVehicleVelCmd_Holo::getVelCmdLength() const --> size_t
- isStopCmd(...)
- isStopCmd(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> bool
C++: mrpt::kinematics::CVehicleVelCmd_Holo::isStopCmd() const --> bool
- setToStop(...)
- setToStop(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo) -> None
C++: mrpt::kinematics::CVehicleVelCmd_Holo::setToStop() --> void
- setVelCmdElement(...)
- setVelCmdElement(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd_Holo, index: int, val: float) -> None
C++: mrpt::kinematics::CVehicleVelCmd_Holo::setVelCmdElement(const int, const double) --> void
Static methods defined here:
- CreateObject(...) from builtins.PyCapsule
- CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
C++: mrpt::kinematics::CVehicleVelCmd_Holo::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
- GetRuntimeClassIdStatic(...) from builtins.PyCapsule
- GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
C++: mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Data descriptors defined here:
- dir_local
- ramp_time
- rot_speed
- vel
Methods inherited from CVehicleVelCmd:
- asString(...)
- asString(self: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> str
Returns a human readable description of the cmd
C++: mrpt::kinematics::CVehicleVelCmd::asString() const --> std::string
Data and other attributes inherited from CVehicleVelCmd:
- TVelCmdParams = <class 'mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams'>
- Parameters that may be used by cmdVel_limits() in any derived classes.
Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
- duplicateGetSmartPtr(...)
- duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
Makes a deep copy of the object and returns a smart pointer to it
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
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class TKinematicLink(pybind11_builtins.pybind11_object) |
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An individual kinematic chain element (one link) which builds up a
CKinematicChain.
The parameterization of the SE(3) transformation from the starting point to
the end point
follows a Denavit-Hartenberg standard parameterization: [theta, d, a,
alpha].
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- Method resolution order:
- TKinematicLink
- pybind11_builtins.pybind11_object
- builtins.object
Methods defined here:
- __init__(...)
- __init__(*args, **kwargs)
Overloaded function.
1. __init__(self: mrpt.pymrpt.mrpt.kinematics.TKinematicLink, _theta: float, _d: float, _a: float, _alpha: float, _is_prismatic: bool) -> None
2. __init__(self: mrpt.pymrpt.mrpt.kinematics.TKinematicLink) -> None
Data descriptors defined here:
- a
- alpha
- d
- is_prismatic
- theta
Static methods inherited from pybind11_builtins.pybind11_object:
- __new__(*args, **kwargs) from pybind11_builtins.pybind11_type
- Create and return a new object. See help(type) for accurate signature.
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