def __init__(self):
modelSettings = settings.ModelSettings().get()
theta1 = sp.symbols('theta1')
theta2 = sp.symbols('theta2')
theta3 = sp.symbols('theta3')
theta4 = sp.symbols('theta4')
theta5 = sp.symbols('theta5')
d1 = modelSettings['d1']
alpha1 = math.radians(-90)
a2 = modelSettings['a2']
a3 = modelSettings['a3']
alpha4 = math.radians(-90)
self._0T1 = trHomogene.dhMatrix(theta1, 0, d1, alpha1)
self._1T2 = trHomogene.dhMatrix(theta2, a2, 0, 0)
self._2T3 = trHomogene.dhMatrix(theta3, a3, 0, 0)
self._3T4 = trHomogene.dhMatrix(theta4, 0, 0, alpha4)
self._4Tf = trHomogene.dhMatrix(theta5, 0, 0, 0)
self._0Tf = self._0T1 * self._1T2 * self._2T3 * self._3T4 * self._4Tf
def __init__(self):
modelSettings = settings.ModelSettings().get()
theta1 = sp.symbols("theta1")
theta2 = sp.symbols("theta2")
theta3 = sp.symbols("theta3")
theta4 = sp.symbols("theta4")
theta5 = sp.symbols("theta5")
d1 = modelSettings["d1"]
alpha1 = math.radians(-90)
a2 = modelSettings["a2"]
a3 = modelSettings["a3"]
alpha4 = math.radians(-90)
self._0T1 = trHomogene.dhMatrix(theta1, 0, d1, alpha1)
self._1T2 = trHomogene.dhMatrix(theta2, a2, 0, 0)
self._2T3 = trHomogene.dhMatrix(theta3, a3, 0, 0)
self._3T4 = trHomogene.dhMatrix(theta4, 0, 0, alpha4)
self._4Tf = trHomogene.dhMatrix(theta5, 0, 0, 0)
self._0Tf = self._0T1 * self._1T2 * self._2T3 * self._3T4 * self._4Tf
import sys
sys.path.insert(0, "../robotModel/")
import trHomogene
import sympy as sp
sp.init_printing()
theta = sp.symbols('theta')
a = sp.symbols('a')
d = sp.symbols('d')
alpha = sp.symbols('alpha')
print ""
print "rotX :"
print trHomogene.rotX(theta)
print ""
print "rotY :"
print trHomogene.rotY(theta)
print ""
print "rotZ :"
print trHomogene.rotZ(theta)
print ""
print "dhMatrix :"
print trHomogene.dhMatrix(theta, a, d, alpha)
import sys
sys.path.insert(0,"../robotModel/")
import trHomogene
import sympy as sp
sp.init_printing()
theta = sp.symbols('theta')
a = sp.symbols('a')
d = sp.symbols('d')
alpha = sp.symbols('alpha')
print ""
print "rotX :"
print trHomogene.rotX(theta)
print ""
print "rotY :"
print trHomogene.rotY(theta)
print ""
print "rotZ :"
print trHomogene.rotZ(theta)
print ""
print "dhMatrix :"
print trHomogene.dhMatrix(theta,a,d,alpha)