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 rotation desired_rotation when the rotation is expressed relative to static_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 to static_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 to static_frame.

__init__(desired_rotation, static_frame, dynamic_frame, *, atol=0.001)[source]

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.