sot-core: python bindings documentation
Python module dynamic_graph.sot implements bindings for sot-core library. To each main C++ class is associated a Python class. Main classes, defined in submodules and are listed below.
Entities
-
class dynamic_graph.sot.core.robot_simu.RobotSimu(name)
-
class dynamic_graph.sot.core.vector_constant.VectorConstant(name)
-
class dynamic_graph.sot.core.matrix_constant.MatrixConstant(name)
-
class dynamic_graph.sot.core.derivator.Derivator_of_Vector(name)
-
class dynamic_graph.sot.core.feature_point6d.FeaturePoint6d(name)
-
class dynamic_graph.sot.core.feature_point6d_relative.FeaturePoint6dRelative(name)
-
class dynamic_graph.sot.core.feature_generic.FeatureGeneric(name)
-
class dynamic_graph.sot.core.feature_joint_limits.FeatureJointLimits(name)
-
class dynamic_graph.sot.core.task.Task(name)
-
class dynamic_graph.sot.core.constraint.Constraint(name)
-
class dynamic_graph.sot.core.gain_adaptive.GainAdaptive(name)
-
class dynamic_graph.sot.core.sot.SOT(name)
Others
-
class dynamic_graph.sot.core.feature_position.FeaturePosition(name, signalPosition=None, signalJacobian=None, referencePosition=None)
Position of a rigid-body in space as a feature
- Input:
a string: name of the feature,
a signal<MatrixHomo>: defining the value of the feature,
a signal<Matrix>: defining the jacobian of the feature with respect
to the robot configuration,
an homogeneous matrix: defining the reference value of the feature.
- Members containing a signal:
- position: position input signal (MatrixHomo),
reference: reference position input signal (MatrixHomo),
Jq: Jacobian input signal (Matrix),
selec: selection flag “RzRyRxTzTyTx” (string).
-
commands()
Return the list of commands.
-
signal(name)
Get a signal of the entity from signal name
-
signals()
Return the list of signals