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

Indices and tables

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