pycram.world_concepts.constraints ================================= .. py:module:: pycram.world_concepts.constraints Classes ------- .. autoapisummary:: pycram.world_concepts.constraints.AbstractConstraint pycram.world_concepts.constraints.Constraint pycram.world_concepts.constraints.Attachment Module Contents --------------- .. py:class:: AbstractConstraint(parent_link: pycram.description.Link, child_link: pycram.description.Link, _type: pycram.datastructures.enums.JointType, parent_to_constraint: pycram.datastructures.pose.TransformStamped, child_to_constraint: pycram.datastructures.pose.TransformStamped) Represents an abstract constraint concept, this could be used to create joints for example or any kind of constraint between two links in the world. .. py:attribute:: parent_link :type: pycram.description.Link .. py:attribute:: child_link :type: pycram.description.Link .. py:attribute:: type :type: pycram.datastructures.enums.JointType .. py:attribute:: parent_to_constraint .. py:attribute:: child_to_constraint .. py:attribute:: _parent_to_child :value: None .. py:method:: get_child_object_pose() -> pycram.datastructures.pose.PoseStamped :return: The pose of the child object. .. py:method:: get_child_object_pose_given_parent(pose: pycram.datastructures.pose.PoseStamped) -> pycram.datastructures.pose.PoseStamped Get the pose of the child object given the parent pose. :param pose: The parent object pose. :return: The pose of the child object. .. py:method:: set_child_link_pose() Set the target pose of the child object to the current pose of the child object in the parent object frame. .. py:method:: get_child_link_target_pose() -> pycram.datastructures.pose.PoseStamped :return: The target pose of the child object. (The pose of the child object in the parent object frame) .. py:method:: get_child_link_target_pose_given_parent(parent_pose: pycram.datastructures.pose.PoseStamped) -> pycram.datastructures.pose.PoseStamped Get the target pose of the child object link given the parent link pose. :param parent_pose: The parent link pose. :return: The target pose of the child object link. .. py:property:: parent_to_child_transform :type: pycram.datastructures.pose.TransformStamped Return the transform from the parent link to the child link of the constraint. :return: The transform from the parent link to the child link of the constraint. .. py:property:: parent_object_id :type: int :return: The id of the parent object of the constraint .. py:property:: child_object_id :type: int :return: The id of the child object of the constraint .. py:property:: parent_link_id :type: int :return: The id of the parent link of the constraint .. py:property:: child_link_id :type: int :return: The id of the child link of the constraint .. py:property:: position_wrt_parent_as_list :type: typing_extensions.List[float] :return: The constraint frame pose with respect to the parent origin as a list .. py:property:: orientation_wrt_parent_as_list :type: typing_extensions.List[float] :return: The constraint frame orientation with respect to the parent origin as a list .. py:property:: pose_wrt_parent :type: pycram.datastructures.pose.PoseStamped :return: The joint frame pose with respect to the parent origin .. py:property:: position_wrt_child_as_list :type: typing_extensions.List[float] :return: The constraint frame pose with respect to the child origin as a list .. py:property:: orientation_wrt_child_as_list :type: typing_extensions.List[float] :return: The constraint frame orientation with respect to the child origin as a list .. py:property:: pose_wrt_child :type: pycram.datastructures.pose.PoseStamped :return: The joint frame pose with respect to the child origin .. py:class:: Constraint(parent_link: pycram.description.Link, child_link: pycram.description.Link, _type: pycram.datastructures.enums.JointType, axis_in_child_frame: pycram.datastructures.pose.Point, constraint_to_parent: pycram.datastructures.pose.TransformStamped, child_to_constraint: pycram.datastructures.pose.TransformStamped) Bases: :py:obj:`AbstractConstraint` Represents a constraint between two links in the World. .. py:attribute:: axis :type: pycram.datastructures.pose.Point .. py:property:: axis_as_list :type: typing_extensions.List[float] :return: The axis of this constraint as a list of xyz .. py:class:: Attachment(parent_link: pycram.description.Link, child_link: pycram.description.Link, bidirectional: bool = False, parent_to_child_transform: typing_extensions.Optional[pycram.datastructures.pose.TransformStamped] = None, constraint_id: typing_extensions.Optional[int] = None, is_inverse: bool = False) Bases: :py:obj:`AbstractConstraint` Represents an abstract constraint concept, this could be used to create joints for example or any kind of constraint between two links in the world. .. py:attribute:: id :value: None .. py:attribute:: bidirectional :type: bool :value: False .. py:attribute:: _loose :type: bool :value: False .. py:attribute:: is_inverse :type: bool :value: False .. py:property:: parent_object .. py:property:: child_object .. py:method:: update_transform_and_constraint() -> None Update the transform and constraint of this attachment. .. py:method:: update_transform() -> None Update the transform of this attachment by calculating the transform from the parent link to the child link. .. py:method:: update_constraint() -> None Update the constraint of this attachment by removing the old constraint if one exists and adding a new one. .. py:method:: add_fixed_constraint() -> None Add a fixed constraint between the parent link and the child link. .. py:method:: calculate_transform() -> pycram.datastructures.pose.TransformStamped Calculate the transform from the parent link to the child link. .. py:method:: remove_constraint_if_exists() -> None Remove the constraint between the parent and the child links if one exists. .. py:method:: get_inverse() -> Attachment :return: A new Attachment object with the parent and child links swapped. .. py:property:: loose :type: bool If true, then the child object will not move when parent moves. .. py:method:: __del__() -> None Remove the constraint between the parent and the child links if one exists when the attachment is deleted. .. py:method:: __copy__() .. py:method:: __eq__(other) .. py:method:: __hash__()