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, frames, name=None):
self._force = zeros(3)
self._pos0 = None
NamedObject.__init__(self, name)
self._frames = frames