adam.parametric.model.parametric_factories.parametric_link

adam.parametric.model.parametric_factories.parametric_link#

Classes#

`Geometry`	The different types of geometries that constitute the URDF
`Side`	The possible sides of a box geometry
`ParametricLink`	Parametric Link class

Module Contents#

class adam.parametric.model.parametric_factories.parametric_link.Geometry(*args, **kwds)[source]#

Bases: enum.Enum

The different types of geometries that constitute the URDF

BOX = 1[source]#

CYLINDER = 2[source]#

SPHERE = 3[source]#

class adam.parametric.model.parametric_factories.parametric_link.Side(*args, **kwds)[source]#

Bases: enum.Enum

The possible sides of a box geometry

WIDTH = 1[source]#

HEIGHT = 2[source]#

DEPTH = 3[source]#

class adam.parametric.model.parametric_factories.parametric_link.ParametricLink(link: urdf_parser_py.urdf.Link, math: adam.core.spatial_math.SpatialMath, length_multiplier, densities)[source]#

Bases: adam.model.Link

Parametric Link class

math[source]#

name[source]#

length_multiplier[source]#

densities[source]#

original_visual[source]#

visuals[source]#

original_density[source]#

link_offset[source]#

mass[source]#

inertia_parametric[source]#

origin[source]#

inertial[source]#

get_principal_length()[source]#: Method computing the principal link length, i.e. the dimension in which the kinematic chain grows

get_principal_length_parametric()[source]#: Method computing the principal link length parametric, i.e. the dimension in which the kinematic chain grows

compute_offset()[source]#

Returns:: link offset
Return type:: npt.ArrayLike

compute_joint_offset(joint_i, parent_offset)[source]#

Returns:: the child joint offset
Return type:: npt.ArrayLike

static get_geometry(visual_obj)[source]#

Returns:: the geometry of the link and the related urdf object
Return type:: (Geometry, urdf geometry)

compute_volume(length_multiplier)[source]#

Returns:: the volume and the dimension parametric
Return type:: (npt.ArrayLike, npt.ArrayLike)

compute_mass()[source]#: Function that computes the mass starting from the densities, and the link volume :returns: the link mass :rtype: (npt.ArrayLike)

modify_origin()[source]#

Returns:: the link origin parametrized
Return type:: (npt.ArrayLike)

compute_inertia_parametric()[source]#

Returns:: inertia (ixx, iyy and izz) with the formula that corresponds to the geometry
Return type:: Inertia Parametric

Formulas retrieved from https://en.wikipedia.org/wiki/List_of_moments_of_inertia

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

Returns:

the 6x6 inertia matrix expressed at the: origin of the link (with rotation)

Return type:

npt.ArrayLike

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

Returns:: the homogeneous transform of the link
Return type:: npt.ArrayLike

update_visuals()[source]#