示例#1
0
 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.))
示例#2
0
 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,))
示例#3
0
 def __init__(self, frames, name=None):
     self._force = zeros(3)
     self._pos0 = None
     NamedObject.__init__(self, name)
     self._frames = frames