Module `inovopy.geometry`

Geometry Module

This module provide geometric data structure class for robot control

Modules

inovopy.geometry.transform : Functions and Class for 3D spatial transform
inovopy.geometry.jointcoord : 6D joint space representation

Sub-modules

inovopy.geometry.jointcoord: Joint Coord Module This module provide joint space representation class for joint space …
inovopy.geometry.transform: Transform Module This module provide useful class and function for spatial calculation …

Functions

def deg_to_rad(deg: float) ‑> float

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def deg_to_rad(deg: float) -> float:
    """translate degree to radian"""
    return deg / 180 * numpy.pi

translate degree to radian

def rad_to_deg(rad: float) ‑> float

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def rad_to_deg(rad: float) -> float:
    """translate radion to degree"""
    return rad / numpy.pi * 180

translate radion to degree

Classes

class IntoRobotCommand

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class IntoRobotCommand(ABC):
    """
    # IntoRobotCommand
    An interface for all class that can be turn into robot command

    ## Method
    - `as_motion`
    - `as_linear`
    - `as_linear_relative`
    - `as_joint`
    - `as_joint_relative`
    """

    # @abstractmethod
    def as_motion(self, motion_mode: MotionMode) -> RobotCommand:
        """construct a new motion command from the `self`"""
        return RobotCommand.motion(motion_mode=motion_mode, target=self)

    # @abstractmethod
    def as_linear(self) -> RobotCommand:
        """construct a new linear motion command from the `self`"""
        return self.as_motion(motion_mode=MotionMode.LINEAR)

    # @abstractmethod
    def as_linear_relative(self) -> RobotCommand:
        """construct a new linear relative motion command from the `self`"""
        return self.as_motion(motion_mode=MotionMode.LINEAR_RELATIVE)

    # @abstractmethod
    def as_joint(self) -> RobotCommand:
        """construct a new joint motion command from the `self`"""
        return self.as_motion(motion_mode=MotionMode.JOINT)

    # @abstractmethod
    def as_joint_relative(self) -> RobotCommand:
        """construct a new joint relative motion command from the `self`"""
        return self.as_motion(motion_mode=MotionMode.JOINT_RELATIVE)

IntoRobotCommand

An interface for all class that can be turn into robot command

Method

as_motion
as_linear
as_linear_relative
as_joint
as_joint_relative

Ancestors

abc.ABC

Subclasses

Methods

def as_joint(self) ‑> RobotCommand

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def as_joint(self) -> RobotCommand:
    """construct a new joint motion command from the `self`"""
    return self.as_motion(motion_mode=MotionMode.JOINT)

construct a new joint motion command from the self

def as_joint_relative(self) ‑> RobotCommand

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def as_joint_relative(self) -> RobotCommand:
    """construct a new joint relative motion command from the `self`"""
    return self.as_motion(motion_mode=MotionMode.JOINT_RELATIVE)

construct a new joint relative motion command from the self

def as_linear(self) ‑> RobotCommand

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def as_linear(self) -> RobotCommand:
    """construct a new linear motion command from the `self`"""
    return self.as_motion(motion_mode=MotionMode.LINEAR)

construct a new linear motion command from the self

def as_linear_relative(self) ‑> RobotCommand

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def as_linear_relative(self) -> RobotCommand:
    """construct a new linear relative motion command from the `self`"""
    return self.as_motion(motion_mode=MotionMode.LINEAR_RELATIVE)

construct a new linear relative motion command from the self

def as_motion(self, motion_mode: MotionMode) ‑> RobotCommand

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def as_motion(self, motion_mode: MotionMode) -> RobotCommand:
    """construct a new motion command from the `self`"""
    return RobotCommand.motion(motion_mode=motion_mode, target=self)

construct a new motion command from the self