klampt.plan.kinetrajopt.trajopt_task_space module
Defines task space constraints for use in
KineTrajOpt
.
Classes:
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Yet another way to impose pose constraint from the moment perspective |
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Constraints to keep one direction up |
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Keeps a link at some orientation |
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To constrain the position of a link local position |
Functions:
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Compute the derivative of rotation vector given the value, rotation, and angular velocity |
- class klampt.plan.kinetrajopt.trajopt_task_space.PoseConstraint(wrobot, linkid, target_pose)[source]
Bases:
ConstrInterface
Yet another way to impose pose constraint from the moment perspective
Methods:
compute
(x[, grad_level])Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- compute(x, grad_level=0)[source]
Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- Parameters:
x (ndarray) – the point to be evaluated
grad_level (int, optional) – which level of gradient is computed. Defaults to 0.
- Returns:
The constraint value and optional derivatives, structured as follows:
If grad_level == 0, it returns a 1-D ndarray of g(x)
If grad_level == 1, it also returns a 2-D ndarray giving the constraint Jacobian d/dx g(x).
- Return type:
tuple
- klampt.plan.kinetrajopt.trajopt_task_space.MomentDerivative(m, R, z)[source]
Compute the derivative of rotation vector given the value, rotation, and angular velocity
- Parameters:
m (arr) – the rotation vector
R (arr) – the rotation matrix
z (arr) – the angular velocity
- Returns:
the dereivative
- Return type:
dm ([arr])
- class klampt.plan.kinetrajopt.trajopt_task_space.DirectionConstraint(wrobot, linkid, lcl_dir=[0, 0, 1], world_dir=[0, 0, 1])[source]
Bases:
ConstrInterface
Constraints to keep one direction up
Methods:
compute
(x[, grad_level])Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- compute(x, grad_level=0)[source]
Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- Parameters:
x (ndarray) – the point to be evaluated
grad_level (int, optional) – which level of gradient is computed. Defaults to 0.
- Returns:
The constraint value and optional derivatives, structured as follows:
If grad_level == 0, it returns a 1-D ndarray of g(x)
If grad_level == 1, it also returns a 2-D ndarray giving the constraint Jacobian d/dx g(x).
- Return type:
tuple
- class klampt.plan.kinetrajopt.trajopt_task_space.OrientationConstraint(robot, linkid, R)[source]
Bases:
ConstrInterface
Keeps a link at some orientation
Methods:
compute
(x[, grad_level])Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- compute(x, grad_level=0)[source]
Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- Parameters:
x (ndarray) – the point to be evaluated
grad_level (int, optional) – which level of gradient is computed. Defaults to 0.
- Returns:
The constraint value and optional derivatives, structured as follows:
If grad_level == 0, it returns a 1-D ndarray of g(x)
If grad_level == 1, it also returns a 2-D ndarray giving the constraint Jacobian d/dx g(x).
- Return type:
tuple
- class klampt.plan.kinetrajopt.trajopt_task_space.PositionConstraint(wrobot, linkid, lcl_pos, world_pos)[source]
Bases:
ConstrInterface
To constrain the position of a link local position
Methods:
compute
(x[, grad_level])Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- compute(x, grad_level=0)[source]
Evaluates the constraint function and possibly (determining on grad_level) the Jacobian.
- Parameters:
x (ndarray) – the point to be evaluated
grad_level (int, optional) – which level of gradient is computed. Defaults to 0.
- Returns:
The constraint value and optional derivatives, structured as follows:
If grad_level == 0, it returns a 1-D ndarray of g(x)
If grad_level == 1, it also returns a 2-D ndarray giving the constraint Jacobian d/dx g(x).
- Return type:
tuple