Homogeneous Transforms | |
eulzxz | transform of Euler angles |
ieulzxz | Euler angles of a transform |
irotk | rotation around a unit vector of a transform |
irpy | roll-pitch-yaw angles of a transform |
rotd | transform of a rotation around a line segment |
rotk | transform of a rotation around a unit vector |
rpy | transform of roll-pitch-yaw angles |
rotx | transform of a rotation around ![]() |
roty | transform of a rotation around ![]() |
rotz | transform of a rotation around ![]() |
trans | transform of a translation |
Quaternions | |
+, -, *, /, = | operators on quaternions |
conjugate, i | conjugate (or inverse) of a quaternion |
exp, Log, power | exponential, logarithm and power of a quaternion |
dot_prod | dot product of a quaternion |
dot, E | quaternion time derivative |
unit | make a quaternion a unit quaternion |
norm, norm_sqr | compute the norm and the square norm of a quaternion |
s, v | returns the scalar and the vector of a quaternion |
set_s, set_v | assign values to the scalar and vector part of a quaternion |
R, T | returns the equivalent rotation matrix (![]() ![]() |
Impedance | |
control | sets the compliant trajectory |
set_Mp | sets the translational impedance inertia matrix |
set_Dp | sets the translational impedance damping matrix |
set_Kp | sets the translational impedance stiffness matrix |
set_Mo | sets the rotational impedance inertia matrix |
set_Do | sets the rotational impedance damping matrix |
set_Ko | sets the rotational impedance stiffness matrix |
Plot2d | |
addcommand | add a gnuplot command the 2d graph |
addcurve | add a curve to the 2d graph |
dump | dump the content of the graph to stdout |
gnuplot | plot the graph through a call to gnuplot |
settitle | sets graph title |
setxlabel | sets axis X label |
setylabel | sets axis Y label |
set_plot2d | ``wrapper'' function for Plot2d |
Config | |
read_conf | read configuration file |
select_string | assign the value of parameter from a section |
select_bool | assign the value of parameter from a section |
select_short | assign the value of parameter from a section |
select_int | assign the value of parameter from a section |
select_double | assign the value of parameter from a section |
Joint Variables | |
get_q | get the robot joint variables position |
get_qp | get the robot joint variables velocity |
get_qpp | get the robot joint variables acceleration |
set_q | set the robot joint variables position |
set_qp | set the robot joint variables velocity |
set_qpp | set the robot joint variables acceleration |
Robot Kinematics | |
inv_kin | inverse kinematics |
inv_kin_rhino | Rhino inverse kinematics |
inv_kin_puma | Puma inverse kinematics |
jacobian | robot Jacobian |
jacobian_dot | robot Jacobian derivative |
jacobian_DLS_inv | robot Jacobian DLS inverse |
kine, kine_pd | forward kinematics |
dTdqi | partial derivative of forward kinematics |
Robot Dynamics | |
acceleration | forward dynamics |
inertia | robot inertia matrix |
torque | inverse dynamics |
torque_novelocity | inverse dynamics without velocity and gravity |
G | gravity effects |
C | Coriolis and centrifugal effects |
Robot Linearized Dynamics | |
delta_torque |
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dq_torque |
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dqp_torque |
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dtau_dq |
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dtau_dqp |
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Miscellaneous | |
odeint | adaptive step size Runge-Kutta integrator |
Runge_Kutta4 | fixed step size ![]() |
Integ_Trap | trapezoidal integration |
vec_dot_prod | vector dot product |
vec_x_prod | vector cross product |
x_prod_matrix | cross product matrix |
perturb_robot | perturb robot parameters |