goro

package module
v0.0.0-...-1c36b67 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Sep 12, 2018 License: Apache-2.0 Imports: 5 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	JointTypeFixed = iota
	JointTypeRevolute
	JointTypePrismatic
	JointTypeFloating
)

Variables

This section is empty.

Functions

This section is empty.

Types

type Joint 

type Joint struct {
	Name string
}

type RigidBody 

type RigidBody struct {
	Name          string
	Position      vec3.T
	Orientation   quaternion.T
	CenterOfMass  vec3.T
	Inertia       mat3.T
	VisualMesh    interface{}
	CollisionMesh interface{}
}

type RobotModel 

type RobotModel struct {
	Name   string
	Bodies []RigidBody
	Joints []Joint
}

func NewRobotModel 

func NewRobotModel(urdfText string) (*RobotModel, error)

func (*RobotModel) GetJacobian 

func (r *RobotModel) GetJacobian() (mat4.T, error)

func (*RobotModel) InCollision 

func (r *RobotModel) InCollision() bool

func (*RobotModel) SetJoints 

func (r *RobotModel) SetJoints(qs []float64) error

func (*RobotModel) SolveIK 

func (r *RobotModel) SolveIK(goal mat4.T) ([]float64, error)

Source Files

View all Source files

Directories

Path Synopsis

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.