adam.parametric.model.parametric_factories.parametric_joint

adam.parametric.model.parametric_factories.parametric_joint#

Classes#

ParametricJoint

Parametric Joint class

Module Contents#

class adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint(joint: urdf_parser_py.urdf.Joint, math: adam.core.spatial_math.SpatialMath, parent_link: adam.parametric.model.parametric_factories.parametric_link.ParametricLink, idx: int | None = None)[source]#

Bases: adam.model.Joint

Parametric Joint class

math[source]#

name[source]#

parent[source]#

parent_parametric[source]#

child[source]#

type[source]#

axis[source]#

limit[source]#

idx[source]#: Abstract base class for all joints.

joint[source]#

joint_offset[source]#

offset[source]#

origin[source]#

modify(parent_joint_offset: numpy.typing.ArrayLike)[source]#

Parameters:: parent_joint_offset (npt.ArrayLike) – offset of the parent joint
Returns:: the origin of the joint, parametric with respect to the parent link dimensions
Return type:: npt.ArrayLike

homogeneous(q: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#

Parameters:: q (npt.ArrayLike) – joint value
Returns:: the homogenous transform of a joint, given q
Return type:: npt.ArrayLike

spatial_transform(q: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#

Parameters:: q (npt.ArrayLike) – joint motion
Returns:: spatial transform of the joint given q
Return type:: npt.ArrayLike

motion_subspace() → numpy.typing.ArrayLike[source]#

Parameters:: joint (Joint) – Joint
Returns:: motion subspace of the joint
Return type:: npt.ArrayLike