def __init__(
self, initial_se3, structure, g_canvas,
qlim, theta, axis_through=array([1, 0, 0])):
if not isinstance(
structure, float) and not isinstance(structure, PurePath):
error_str = "structure must be of type {0} or {1}. Given {2}. " \
"Either give a length (float)," \
"or meshdata [filepath, scale, origindata]"
raise TypeError(error_str.format(float, str, type(structure)))
self.qlim = qlim
self.theta = theta
self.__scene = g_canvas.scene
self.__pose = initial_se3
# Set the graphic
# self.stl_offset = None
self.__graphic_obj = self.__set_graphic(structure, axis_through)
self.visible = True
# Set the other reference frame vectors
self.__graphic_ref = draw_reference_frame_axes(
self.__pose, self.__scene)
# Apply the initial pose
self.update_pose(self.__pose)
def __init__(
self, initial_se3, structure, g_canvas, qlim,
theta, axis_through=array([1, 0, 0])):
# Call super init function
super().__init__(
initial_se3, structure, g_canvas, qlim, theta, axis_through)
def __init__(
self, initial_se3, structure, g_canvas, qlim, theta,
axis_through=array([1, 0, 0])):
super().__init__(
initial_se3, structure, g_canvas, qlim, theta, axis_through)
self.min_translation = None
self.max_translation = None
def append_link(self,
typeof,
pose,
structure,
qlim,
theta,
axis_through=array([1, 0, 0])):
"""
Append a joint to the end of the robot.
:param typeof: String character of the joint type. e.g. 'R', 'P',
'S', 'G'
:type typeof: `str`
:param pose: SE3 object for the pose of the joint
:type pose: class:`spatialmath.pose3d.SE3`
:param structure: either a float of the length of the joint, or a list
of str of the filepath and scale
:type structure: `float`, `list`
:param qlim: A list of the angle limits for the joint
:type qlim: `list`
:param theta: The current angle of the joint in radians
:type theta: `float`
:param axis_through: The axis that the longest side goes through
:type axis_through: class:`numpy.ndarray`
:raises ValueError: typeof must be a valid character
"""
# Capitalise the type for case-insensitive use
typeof = typeof.upper()
if typeof == 'R':
link = RotationalJoint(pose, structure, self.__scene, qlim, theta,
axis_through)
elif typeof == 'P':
link = PrismaticJoint(pose, structure, self.__scene, qlim, theta,
axis_through)
elif typeof == 'S':
link = StaticJoint(pose, structure, self.__scene, qlim, theta,
axis_through)
elif typeof == 'G':
link = Gripper(pose, structure, self.__scene, qlim, theta,
axis_through)
else:
raise ValueError(
"typeof should be (case-insensitive) either 'R' (Rotational)"
", 'P' (Prismatic), 'S' (Static), or 'G' (Gripper)")
# Append the joint to the robot
self.joints.append(link)
self.num_joints += 1
self.angles.append(theta)