def __init__(self, gpos=None, gvel=None, name=None):
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4,4))
self.gvel = array(gvel).reshape((6))
Joint.__init__(self, name)
def __init__(self, gpos=0., gvel=0., name=None):
"""
example:
>>> j = RzJoint(gpos = 3.14/2., gvel = 1.)
>>> j.gpos
array([ 1.57])
>>> j.gvel
array([ 1.])
"""
self.gpos = array(gpos).reshape((1))
self.gvel = array(gvel).reshape((1))
Joint.__init__(self, name)
def __init__(self, gpos=None, gvel=None, name=None):
"""
example:
>>> j = FreeJoint()
>>> j.gpos
array([[ 1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 1., 0.],
[ 0., 0., 0., 1.]])
>>> j.gvel
array([ 0., 0., 0., 0., 0., 0.])
"""
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4,4))
self.gvel = array(gvel).reshape((6))
Joint.__init__(self, name)
def __init__(self, gpos=[0.,0.,0.], gvel=[0.,0.,0.], name=None):
self.gpos = array(gpos).reshape((3))
self.gvel = array(gvel).reshape((3))
Joint.__init__(self, name)
def __init__(self, gpos=0., gvel=0., frames=None, name=None):
self.gpos = array(gpos).reshape((1))
self.gvel = array(gvel).reshape((1))
Joint.__init__(self, name)