skbot.inverse_kinematics.PositionTarget

class skbot.inverse_kinematics.PositionTarget(static_position, dynamic_position, static_frame, dynamic_frame, norm=None, *, atol=0.001)[source]

IK position target (nD).

This target can be used to find an IK solution that positions a point (static_position) expressed in static_frame at a desired target position (dynamic_position) expressed in dynamic_frame. To compute the current score, this target transforms static_position from static_frame into dynamic_frame and then measures the distance between the transformed point and dynamic_positon under the desired norm (default: L2).

New in version 0.10.0.

Parameters
static_positionArrayLike

The value of a position that moves in dynamic_frame expressed in static_frame.

dynamic_positonArrayLike

The value of the target position expressed in dynamic_frame.

static_frametf.Frame

The frame in which the moving position is expressed.

dynamic_frametf.Frame

The frame in which the target position is expressed.

normCallable

A function of the form norm(ArrayLike) -> float that computes the norm of the distance between target_position and the transformed static_position in dynamic_frame. If None defaults to L2.

__init__(static_position, dynamic_position, static_frame, dynamic_frame, norm=None, *, atol=0.001)[source]

Methods

__init__(static_position, dynamic_position, ...)

score()

The score of this target.

usage_count(joint)

Frequency of joint use in this target.

uses(joint)

Check if target uses a joint.