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
