kdl

KDL submodule

class mplib.pymp.kinematics.kdl.KDLModel

Bases: pybind11_object

KDL model of an articulation

See https://github.com/orocos/orocos_kinematics_dynamics

chain_IK_LMA(self: mplib.pymp.kinematics.kdl.KDLModel, index: int, q_init: numpy.ndarray[numpy.float64[m, 1]], goal_pose: numpy.ndarray[numpy.float64[7, 1]]) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]

chain_IK_NR(self: mplib.pymp.kinematics.kdl.KDLModel, index: int, q_init: numpy.ndarray[numpy.float64[m, 1]], goal_pose: numpy.ndarray[numpy.float64[7, 1]]) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]

chain_IK_NR_JL(self: mplib.pymp.kinematics.kdl.KDLModel, index: int, q_init: numpy.ndarray[numpy.float64[m, 1]], goal_pose: numpy.ndarray[numpy.float64[7, 1]], q_min: numpy.ndarray[numpy.float64[m, 1]], q_max: numpy.ndarray[numpy.float64[m, 1]]) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]

get_tree_root_name(self: mplib.pymp.kinematics.kdl.KDLModel) → str

tree_IK_NR_JL(self: mplib.pymp.kinematics.kdl.KDLModel, endpoints: list[str], q_init: numpy.ndarray[numpy.float64[m, 1]], goal_poses: list[numpy.ndarray[numpy.float64[7, 1]]], q_min: numpy.ndarray[numpy.float64[m, 1]], q_max: numpy.ndarray[numpy.float64[m, 1]]) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]