Visual Class Reference

Inheritance diagram for Visual:

Collaboration diagram for Visual:

Public Member Functions
def	__init__ (self, name, jointParent, placement, radius=.1, length=None)
def	place (self, display, oMjoint)
def	isCapsule (self)
def	collision (self, c2, data=None, oMj1=None, oMj2=None)
def	jacobian (self, c2, robot, q)
def	displayCollision (self, viewer, name='world/wa')

Public Attributes
	name
	jointParent
	placement
	length
	radius
	dist
	w
	R

Detailed Description

Class representing one 3D mesh of the robot, to be attached to a joint. The class contains:
* the name of the 3D objects inside Gepetto viewer.
* the ID of the joint in the kinematic tree to which the body is attached.
* the placement of the body with respect to the joint frame.
This class is only used in the list Robot.visuals (see below).

The visual are supposed mostly to be capsules. In that case, the object also contains
radius and length of the capsule.
The collision checking computes collision test, distance, and witness points.
Using the supporting robot, the collision Jacobian returns a 1xN matrix corresponding
to the normal direction.

Definition at line 11 of file robot_hand.py.

Constructor & Destructor Documentation

def __init__	(		self,
			name,
			jointParent,
			placement,
			radius = .1,
			length = None
	)

Length and radius are used in case of capsule objects

Definition at line 25 of file robot_hand.py.

References Visual.dist, Visual.isCapsule(), se3.jacobian(), Visual.jointParent, Visual.length, Visual.name, Visual.placement, Visual.R, Visual.radius, and Visual.w.

---

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

• robot_hand.py