def __init__(self, shapes, friction_coeff, collision_solver=None,
proximity=0.02, name=None):
self._mu = friction_coeff
PointContact.__init__(self, shapes, collision_solver, proximity)
NamedObject.__init__(self, name)
self._force = zeros(4)
self._eps = array((1., 1., 1.))
def __init__(self, joint, min, max, proximity=None,
name=None):
from arboris.joints import LinearConfigurationSpaceJoint
if not isinstance(joint, LinearConfigurationSpaceJoint):
raise ValueError()
self._joint = joint
NamedObject.__init__(self, name)
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, cdof=None, weight=1, level=0, is_active=True, name=None):
""" Save the generic values of a task.
:param cdof: the controlled dofs of the part.
:type cdof: list
:param weight: the weight (importance) of the task.
:type weight: float in [0,1]
:param level: the level (importance) of the task.
:type level: integer
:param is_active: set the activity of the task.
:type is_active: True or False
:param name: the name of the task.
:type name: string
"""
name = name if name else str(id(self))
NamedObject.__init__(self, name)
self._cdof = cdof or []
self._weight = weight
self._level = level
self._is_active = is_active
self._cost = None
self._norm = None
self._formalism = None
self._E = zeros((0, 0))
self._f = zeros(0)
self._error = 0.
self._J = zeros((0, 0)) # overwritten by inherited classes
self._inv_lambda = zeros((0, 0))
self._lambda = zeros((0, 0))
self._inv_ellipsoid = zeros((0, 0))
self._ellipsoid = zeros((0, 0))
self._L_T = zeros((0, 0))
self._inv_lambda_is_already_computed = False
self._lambda_is_already_computed = False
self._inv_ellipsoid_is_already_computed = False
self._ellipsoid_is_already_computed = False
def __init__(self, cond, exe, name = None):
""" An initialization of the Event instance
inputs:
cond: a list of conditions, should be Cond instance
exe: a list of execution, should be Exe instance
"""
NamedObject.__init__(self, name)
self.is_active = True
self._cond_is_fulfilled = False
if not isinstance(cond, list):
cond = [cond]
for c in cond:
if not isinstance(c, Cond):
raise TypeError( \
'The elements of the cond list must be Cond instance')
self.cond = cond
if not isinstance(exe, list):
exe = [exe]
for e in exe:
if not isinstance(e, Exe):
raise TypeError( \
'The elements of the exe list must be Exe instance')
self.exe = exe
def __init__(self, cond, exe, name=None):
""" An initialization of the Event instance
inputs:
cond: a list of conditions, should be Cond instance
exe: a list of execution, should be Exe instance
"""
NamedObject.__init__(self, name)
self.is_active = True
self._cond_is_fulfilled = False
if not isinstance(cond, list):
cond = [cond]
for c in cond:
if not isinstance(c, Cond):
raise TypeError( \
'The elements of the cond list must be Cond instance')
self.cond = cond
if not isinstance(exe, list):
exe = [exe]
for e in exe:
if not isinstance(e, Exe):
raise TypeError( \
'The elements of the exe list must be Exe instance')
self.exe = exe
def __init__(self, frames, name=None):
self._force = zeros(3)
self._pos0 = None
NamedObject.__init__(self, name)
self._frames = frames