def __init__(self, gpos=None, gvel=None, name=None):
""" A free joint, with no dof constrained.
:param gpos: initial generalized joint position, a homogeneous matrix
:type gpos: (4,4)-array
:param gvel: initial generalized joint velocity, a twist
:type gvel: (6,)-array
:param string name: the joint name
**Example:**
>>> j = FreeJoint()
>>> j.gpos
array([[ 1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 1., 0.],
[ 0., 0., 0., 1.]])
>>> j.gvel
array([ 0., 0., 0., 0., 0., 0.])
"""
Joint.__init__(self, name)
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4, 4))
self.gvel = array(gvel).reshape((6))
def __init__(self, gpos=None, gvel=None, name=None):
""" A free joint, with no dof constrained.
:param gpos: initial generalized joint position, a homogeneous matrix
:type gpos: (4,4)-array
:param gvel: initial generalized joint velocity, a twist
:type gvel: (6,)-array
:param string name: the joint name
**Example:**
>>> j = FreeJoint()
>>> j.gpos
array([[ 1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 1., 0.],
[ 0., 0., 0., 1.]])
>>> j.gvel
array([ 0., 0., 0., 0., 0., 0.])
"""
Joint.__init__(self, name)
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4, 4))
self.gvel = array(gvel).reshape((6))
def __init__(self, name=None):
""" A fixed joint where all dof are constrained.
:param string name: the joint name
**Example:**
>>> j = FreeJoint()
>>> print j.gpos
[]
"""
Joint.__init__(self, name)
def __init__(self, name=None):
""" A fixed joint where all dof are constrained.
:param string name: the joint name
**Example:**
>>> j = FreeJoint()
>>> print j.gpos
[]
"""
Joint.__init__(self, name)
def __init__(self, gpos=None, gvel=None, name=None):
"""
example:
>>> j = FreeJoint()
>>> j.gpos
array([[ 1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 1., 0.],
[ 0., 0., 0., 1.]])
>>> j.gvel
array([ 0., 0., 0., 0., 0., 0.])
"""
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4,4))
self.gvel = array(gvel).reshape((6))
Joint.__init__(self, name)
def __init__(self, gpos=None, gvel=None, name=None):
"""
example:
>>> j = FreeJoint()
>>> j.gpos
array([[ 1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 1., 0.],
[ 0., 0., 0., 1.]])
>>> j.gvel
array([ 0., 0., 0., 0., 0., 0.])
"""
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4, 4))
self.gvel = array(gvel).reshape((6))
Joint.__init__(self, name)
