kinematics

Kinematics submodule

• pinocchio
  • PinocchioModel
    • PinocchioModel.__init__()
    • PinocchioModel.compute_IK_CLIK()
    • PinocchioModel.compute_IK_CLIK_JL()
    • PinocchioModel.compute_forward_kinematics()
    • PinocchioModel.compute_full_jacobian()
    • PinocchioModel.compute_single_link_jacobian()
    • PinocchioModel.create_from_urdf_string()
    • PinocchioModel.get_adjacent_links()
    • PinocchioModel.get_chain_joint_index()
    • PinocchioModel.get_chain_joint_name()
    • PinocchioModel.get_joint_dim()
    • PinocchioModel.get_joint_dims()
    • PinocchioModel.get_joint_id()
    • PinocchioModel.get_joint_ids()
    • PinocchioModel.get_joint_limit()
    • PinocchioModel.get_joint_limits()
    • PinocchioModel.get_joint_names()
    • PinocchioModel.get_joint_parent()
    • PinocchioModel.get_joint_parents()
    • PinocchioModel.get_joint_type()
    • PinocchioModel.get_joint_types()
    • PinocchioModel.get_leaf_links()
    • PinocchioModel.get_link_jacobian()
    • PinocchioModel.get_link_names()
    • PinocchioModel.get_link_pose()
    • PinocchioModel.get_random_configuration()
    • PinocchioModel.print_frames()
    • PinocchioModel.set_joint_order()
    • PinocchioModel.set_link_order()
• kdl
  • KDLModel
    • KDLModel.__init__()
    • KDLModel.chain_IK_LMA()
    • KDLModel.chain_IK_NR()
    • KDLModel.chain_IK_NR_JL()
    • KDLModel.get_tree_root_name()
    • KDLModel.tree_IK_NR_JL()