pycram.world_concepts.constraints

pycram.world_concepts.constraints#

Classes#

`AbstractConstraint`	Represents an abstract constraint concept, this could be used to create joints for example or any kind of constraint
`Constraint`	Represents a constraint between two links in the World.
`Attachment`	Represents an abstract constraint concept, this could be used to create joints for example or any kind of constraint

Module Contents#

class pycram.world_concepts.constraints.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.

parent_link: pycram.description.Link#

child_link: pycram.description.Link#

type: pycram.datastructures.enums.JointType#

parent_to_constraint#

child_to_constraint#

_parent_to_child = None#

get_child_object_pose() → pycram.datastructures.pose.PoseStamped#

Returns:: The pose of the child object.

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.

Parameters:: pose – The parent object pose.
Returns:: The pose of the child object.

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.

get_child_link_target_pose() → pycram.datastructures.pose.PoseStamped#

Returns:: The target pose of the child object. (The pose of the child object in the parent object frame)

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.

Parameters:: parent_pose – The parent link pose.
Returns:: The target pose of the child object link.

property parent_to_child_transform: pycram.datastructures.pose.TransformStamped#

Return the transform from the parent link to the child link of the constraint.

Returns:: The transform from the parent link to the child link of the constraint.

property parent_object_id: int#

Returns:: The id of the parent object of the constraint

property child_object_id: int#

Returns:: The id of the child object of the constraint

property parent_link_id: int#

Returns:: The id of the parent link of the constraint

property child_link_id: int#

Returns:: The id of the child link of the constraint

property position_wrt_parent_as_list: typing_extensions.List[float]#

Returns:: The constraint frame pose with respect to the parent origin as a list

property orientation_wrt_parent_as_list: typing_extensions.List[float]#

Returns:: The constraint frame orientation with respect to the parent origin as a list

property pose_wrt_parent: pycram.datastructures.pose.PoseStamped#

Returns:: The joint frame pose with respect to the parent origin

property position_wrt_child_as_list: typing_extensions.List[float]#

Returns:: The constraint frame pose with respect to the child origin as a list

property orientation_wrt_child_as_list: typing_extensions.List[float]#

Returns:: The constraint frame orientation with respect to the child origin as a list

property pose_wrt_child: pycram.datastructures.pose.PoseStamped#

Returns:: The joint frame pose with respect to the child origin

class pycram.world_concepts.constraints.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: AbstractConstraint

Represents a constraint between two links in the World.

axis: pycram.datastructures.pose.Point#

property axis_as_list: typing_extensions.List[float]#

Returns:: The axis of this constraint as a list of xyz

class pycram.world_concepts.constraints.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: 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.

id = None#

bidirectional: bool = False#

_loose: bool = False#

is_inverse: bool = False#

property parent_object#

property child_object#

update_transform_and_constraint() → None#: Update the transform and constraint of this attachment.

update_transform() → None#: Update the transform of this attachment by calculating the transform from the parent link to the child link.

update_constraint() → None#: Update the constraint of this attachment by removing the old constraint if one exists and adding a new one.

add_fixed_constraint() → None#: Add a fixed constraint between the parent link and the child link.

calculate_transform() → pycram.datastructures.pose.TransformStamped#: Calculate the transform from the parent link to the child link.

remove_constraint_if_exists() → None#: Remove the constraint between the parent and the child links if one exists.

get_inverse() → Attachment#

Returns:: A new Attachment object with the parent and child links swapped.

property loose: bool#: If true, then the child object will not move when parent moves.

__del__() → None#: Remove the constraint between the parent and the child links if one exists when the attachment is deleted.

__copy__()#

__eq__(other)#

__hash__()#