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 instatic_frame
at a desired target position (dynamic_position
) expressed indynamic_frame
. To compute the current score, this target transformsstatic_position
fromstatic_frame
intodynamic_frame
and then measures the distance between the transformed point anddynamic_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 instatic_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 betweentarget_position
and the transformedstatic_position
indynamic_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.