def __init__(self, shapes, collision_solver, proximity, name): assert isinstance(shapes[0], Shape) assert isinstance(shapes[1], Shape) Constraint.__init__(self, name) if collision_solver is None: # automatically find the collision solver from arboris.collisions import choose_solver (shapes, collision_solver) = choose_solver(shapes[0], shapes[1]) self._shapes = shapes self._is_active = None self._sdist = None self._frames = (MovingSubFrame(shapes[0].frame.body), MovingSubFrame(shapes[1].frame.body)) self._collision_solver = collision_solver self._proximity = proximity
def __init__(self, joint, min_limits, max_limits, proximity=None, name=None): if not isinstance(joint, LinearConfigurationSpaceJoint): raise ValueError() Constraint.__init__(self, name) self._joint = joint self._min = array(min_limits).reshape((joint.ndof,)) self._max = array(max_limits).reshape((joint.ndof,)) if proximity is None: #TODO: choose a proper default for tol according to the joint type self._proximity = zeros((joint.ndof,)) self._proximity[:] = joint_limits_proximity else: self._proximity = array(proximity).reshape((joint.ndof,)) self._pos0 = None self._jacobian = None self._force = zeros((joint.ndof,))
def __init__(self, joint, min, max, proximity=None, name=None): from arboris.joints import LinearConfigurationSpaceJoint if not isinstance(joint, LinearConfigurationSpaceJoint): raise ValueError() Constraint.__init__(self, name) self._joint = joint self._min = array(min).reshape((joint.ndof,)) self._max = array(max).reshape((joint.ndof,)) if proximity is None: #TODO: choose a proper default for tol according to the joint type self._proximity = zeros((joint.ndof,)) self._proximity[:] = joint_limits_proximity else: self._proximity = array(proximity).reshape((joint.ndof,)) self._pos0 = None self._jacobian = None self._force = zeros((joint.ndof,))
def __init__(self, frames, name=None): Constraint.__init__(self, name) self._force = zeros(3) self._pos0 = None self._frames = frames
def __init__(self, frames, name=None): self._force = zeros(3) self._pos0 = None Constraint.__init__(self, name) self._frames = frames