skbot.inverse_kinematics.RotationTarget¶
- class skbot.inverse_kinematics.RotationTarget(desired_rotation, static_frame, dynamic_frame, *, atol=0.001)[source]¶
IK rotation target (2D/3D).
This target can be used to find an IK solution such that
dynamic_frame
has rotationdesired_rotation
when the rotation is expressed relative tostatic_frame
. The score function computes the distance in radians between the current rotation and desired rotation.New in version 0.10.0.
- Parameters
- desired_rotationUnion[tf.Link, List[tf.Link]]
A link or list of links that expresses the rotation of
dynamic_frame
relative tostatic_frame
.- static_frametf.Frame
The frame in which the rotation is expressed.
- dynamic_frametf.Frame
The frame that should be rotated by
desired_rotation
relative tostatic_frame
.
Methods
__init__
(desired_rotation, static_frame, ...)score
()The score of this target.
usage_count
(joint)Frequency of joint use in this target.
uses
(joint)Check if target uses a joint.