Inheritance diagram for MobileRobotWrapper:

Collaboration diagram for MobileRobotWrapper:

Public Member Functions
	__init__ (self, urdf, pkgs)

	display (self, q)

	initDisplay (self, loadModel)

Public Attributes
	data

	model

Detailed Description

The class models a mobile robot with UR5 arm, feature 3+6 DOF.
The configuration of the basis is represented by [X, Y, cos, sin], with the
additionnal constraint that (cos, sin) should have norm 1. Hence take care when
sampling and integrating configurations.
The robot is depicted as an orange box with two black cylinders (wheels) atop of
which is the classical (realistic) UR5 model.
The model also features to OPERATIONAL frames, named "mobile" (on the front of the
mobile basis, 30cm above the ground) and "tool" (at the very end of the effector).

Definition at line 7 of file mobilerobot.py.

Constructor & Destructor Documentation

◆ init()

__init__	(	self,
		urdf,
		pkgs
	)

Definition at line 19 of file mobilerobot.py.

Member Function Documentation

◆ display()

display	(	self,
		q
	)

Definition at line 77 of file mobilerobot.py.

◆ initDisplay()

initDisplay	(	self,
		loadModel
	)

Definition at line 41 of file mobilerobot.py.

Member Data Documentation

◆ data

data

Definition at line 39 of file mobilerobot.py.

◆ model

model

Definition at line 91 of file mobilerobot.py.

The documentation for this class was generated from the following file:

doc/d-practical-exercises/src/mobilerobot.py

Public Member Functions

Public Attributes