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