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Merge pull request #9 from jarvisschultz/python_docstring_cleanup 

Major formatting update to Python library
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HuanWeng 2018-12-07 10:04:51 -06:00 committed by GitHub
parent 77dcf6617c 36c388aa20
commit 174a89066c
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1 changed files with 832 additions and 826 deletions
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packages/Python/modern_robotics/core.py
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@ -182,7 +182,7 @@ def MatrixLog3(R):
def RpToTrans(R, p): def RpToTrans(R, p):
"""Converts a rotation matrix and a position vector into homogeneous """Converts a rotation matrix and a position vector into homogeneous
tranformation matrix transformation matrix
:param R: A 3x3 rotation matrix :param R: A 3x3 rotation matrix
:param p: A 3-vector :param p: A 3-vector
@ -305,7 +305,7 @@ def Adjoint(T):
np.c_[np.dot(VecToso3(p), R), R]] np.c_[np.dot(VecToso3(p), R), R]]
def ScrewToAxis(q, s, h): def ScrewToAxis(q, s, h):
"""Takes a parametric description of a scre axis and converts it to a """Takes a parametric description of a screw axis and converts it to a
normalized screw axis normalized screw axis
:param q: A point lying on the screw axis :param q: A point lying on the screw axis
@ -323,10 +323,10 @@ def ScrewToAxis(q, s, h):
return np.r_[s, np.cross(q, s) + np.dot(h, s)] return np.r_[s, np.cross(q, s) + np.dot(h, s)]
def AxisAng6(expc6): def AxisAng6(expc6):
"""Converts a 6-vector of exponenation coordinates into screw axis-angle """Converts a 6-vector of exponential coordinates into screw axis-angle
form form
:param expc6: A 6-vector of exponential corrdinates for rigid-body motion :param expc6: A 6-vector of exponential coordinates for rigid-body motion
S*theta S*theta
:return S: The corresponding normalized screw axis :return S: The corresponding normalized screw axis
:return theta: The distance traveled along/about S :return theta: The distance traveled along/about S
@ -1251,6 +1251,8 @@ def InverseDynamicsTrajectory(thetamat, dthetamat, ddthetamat, g, \
forces/torques at each time step forces/torques at each time step
Example Inputs (3 Link Robot): Example Inputs (3 Link Robot):
from __future__ import print_function
import numpy as np
import modern_robotics as mr import modern_robotics as mr
# Create a trajectory to follow using functions from Chapter 9 # Create a trajectory to follow using functions from Chapter 9
thetastart = np.array([0, 0, 0]) thetastart = np.array([0, 0, 0])
@ -1267,7 +1269,7 @@ def InverseDynamicsTrajectory(thetamat, dthetamat, ddthetamat, g, \
dthetamat[i + 1, :] = (thetamat[i + 1, :] - thetamat[i, :]) / dt dthetamat[i + 1, :] = (thetamat[i + 1, :] - thetamat[i, :]) / dt
ddthetamat[i + 1, :] \ ddthetamat[i + 1, :] \
= (dthetamat[i + 1, :] - dthetamat[i, :]) / dt = (dthetamat[i + 1, :] - dthetamat[i, :]) / dt
#Initialise robot descripstion (Example with 3 links) # Initialize robot description (Example with 3 links)
g = np.array([0, 0, -9.8]) g = np.array([0, 0, -9.8])
Ftipmat = np.ones((N, 6)) Ftipmat = np.ones((N, 6))
M01 = np.array([[1, 0, 0, 0], M01 = np.array([[1, 0, 0, 0],
@ -1359,6 +1361,8 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
ForwardDynamics. ForwardDynamics.
Example Inputs (3 Link Robot): Example Inputs (3 Link Robot):
from __future__ import print_function
import numpy as np
import modern_robotics as mr import modern_robotics as mr
thetalist = np.array([0.1, 0.1, 0.1]) thetalist = np.array([0.1, 0.1, 0.1])
dthetalist = np.array([0.1, 0.2, 0.3]) dthetalist = np.array([0.1, 0.2, 0.3])
@ -1367,7 +1371,7 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
[5.85, 8.17, -2.59], [5.78, 2.79, -1.7], [5.85, 8.17, -2.59], [5.78, 2.79, -1.7],
[4.99, -5.3, -1.19], [4.08, -9.41, 0.07], [4.99, -5.3, -1.19], [4.08, -9.41, 0.07],
[3.56, -10.1, 0.97], [3.49, -9.41, 1.23]]) [3.56, -10.1, 0.97], [3.49, -9.41, 1.23]])
#Initialise robot description (Example with 3 links) # Initialize robot description (Example with 3 links)
g = np.array([0, 0, -9.8]) g = np.array([0, 0, -9.8])
Ftipmat = np.ones((np.array(taumat).shape[0], 6)) Ftipmat = np.ones((np.array(taumat).shape[0], 6))
M01 = np.array([[1, 0, 0, 0], M01 = np.array([[1, 0, 0, 0],
@ -1413,7 +1417,7 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
try: try:
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
except: except:
print(The result will not be plotted due to a lack of package matplotlib) print('The result will not be plotted due to a lack of package matplotlib')
else: else:
plt.plot(timestamp, theta1, label = "Theta1") plt.plot(timestamp, theta1, label = "Theta1")
plt.plot(timestamp, theta2, label = "Theta2") plt.plot(timestamp, theta2, label = "Theta2")
@ -1765,10 +1769,12 @@ def SimulateControl(thetalist, dthetalist, g, Ftipmat, Mlist, Glist, \
using matplotlib and random libraries. using matplotlib and random libraries.
Example Input: Example Input:
from __future__ import print_function
import numpy as np
from modern_robotics import JointTrajectory from modern_robotics import JointTrajectory
thetalist = np.array([0.1, 0.1, 0.1]) thetalist = np.array([0.1, 0.1, 0.1])
dthetalist = np.array([0.1, 0.2, 0.3]) dthetalist = np.array([0.1, 0.2, 0.3])
#Initialise robot description (Example with 3 links) # Initialize robot description (Example with 3 links)
g = np.array([0, 0, -9.8]) g = np.array([0, 0, -9.8])
M01 = np.array([[1, 0, 0, 0], M01 = np.array([[1, 0, 0, 0],
[0, 1, 0, 0], [0, 1, 0, 0],