Welcome to Orocos KDL python bindings’s documentation!

Overview of all available classes and functions for the Orocos KDL python bindings. This documentation is autogenerated and only shows the API of all functions. Please refer to http://www.orocos.org/kdl/user-manual or to the C++ API documentation at http://docs.ros.org/api/orocos_kdl/html/ for more documentation.

Indices and tables

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Orocos KDL Python wrapper

PyKDL.Add(*args, **kwargs)

Overloaded function.

1. Add(src1: PyKDL.JntArray, src2: PyKDL.JntArray, dest: PyKDL.JntArray) -> None

2. Add(src1: PyKDL.JntArrayVel, src2: PyKDL.JntArrayVel, dest: PyKDL.JntArrayVel) -> None

3. Add(src1: PyKDL.JntArrayVel, src2: PyKDL.JntArray, dest: PyKDL.JntArrayVel) -> None

4. Add(src1: PyKDL.JntSpaceInertiaMatrix, src2: PyKDL.JntSpaceInertiaMatrix, dest: PyKDL.JntSpaceInertiaMatrix) -> None

class PyKDL.Chain

addChain(self: PyKDL.Chain, chain: PyKDL.Chain) → None

addSegment(self: PyKDL.Chain, segment: PyKDL.Segment) → None

getNrOfJoints(self: PyKDL.Chain) → int

getNrOfSegments(self: PyKDL.Chain) → int

getSegment(*args, **kwargs)

Overloaded function.

1. getSegment(self: PyKDL.Chain, index: int) -> PyKDL.Segment

2. getSegment(self: PyKDL.Chain, index: int) -> PyKDL.Segment

class PyKDL.ChainDynParam

JntToCoriolis(self: PyKDL.ChainDynParam, q: PyKDL.JntArray, q_dot: PyKDL.JntArray, coriolis: PyKDL.JntArray) → int

JntToGravity(self: PyKDL.ChainDynParam, q: PyKDL.JntArray, gravity: PyKDL.JntArray) → int

JntToMass(self: PyKDL.ChainDynParam, q: PyKDL.JntArray, H: PyKDL.JntSpaceInertiaMatrix) → int

class PyKDL.ChainFkSolverPos

JntToCart(self: PyKDL.ChainFkSolverPos, q_in: PyKDL.JntArray, p_out: PyKDL.Frame, segmentNr: int = -1) → int

class PyKDL.ChainFkSolverPos_recursive

class PyKDL.ChainFkSolverVel

JntToCart(self: PyKDL.ChainFkSolverVel, q_in: PyKDL.JntArrayVel, p_out: PyKDL.FrameVel, segmentNr: int = -1) → int

class PyKDL.ChainFkSolverVel_recursive

class PyKDL.ChainIdSolver

CartToJnt(self: PyKDL.ChainIdSolver, q: PyKDL.JntArray, q_dot: PyKDL.JntArray, q_dot_dot: PyKDL.JntArray, f_ext: list[PyKDL.Wrench], torques: PyKDL.JntArray) → int

class PyKDL.ChainIdSolver_RNE

class PyKDL.ChainIkSolverPos

CartToJnt(self: PyKDL.ChainIkSolverPos, q_init: PyKDL.JntArray, p_in: PyKDL.Frame, q_out: PyKDL.JntArray) → int

class PyKDL.ChainIkSolverPos_LMA

class PyKDL.ChainIkSolverPos_NR

class PyKDL.ChainIkSolverPos_NR_JL

class PyKDL.ChainIkSolverVel

CartToJnt(self: PyKDL.ChainIkSolverVel, q_in: PyKDL.JntArray, v_in: PyKDL.Twist, q_dot_out: PyKDL.JntArray) → int

class PyKDL.ChainIkSolverVel_pinv

class PyKDL.ChainIkSolverVel_pinv_givens

class PyKDL.ChainIkSolverVel_pinv_nso

getAlpha(self: PyKDL.ChainIkSolverVel_pinv_nso) → float

getOptPos(self: PyKDL.ChainIkSolverVel_pinv_nso) → PyKDL.JntArray

getWeights(self: PyKDL.ChainIkSolverVel_pinv_nso) → PyKDL.JntArray

setAlpha(self: PyKDL.ChainIkSolverVel_pinv_nso, alpha: float) → int

setOptPos(self: PyKDL.ChainIkSolverVel_pinv_nso, opt_pos: PyKDL.JntArray) → int

setWeights(self: PyKDL.ChainIkSolverVel_pinv_nso, weights: PyKDL.JntArray) → int

class PyKDL.ChainIkSolverVel_wdls

getEps(self: PyKDL.ChainIkSolverVel_wdls) → float

getLambda(self: PyKDL.ChainIkSolverVel_wdls) → float

getLambdaScaled(self: PyKDL.ChainIkSolverVel_wdls) → float

getNrZeroSigmas(self: PyKDL.ChainIkSolverVel_wdls) → int

getSVDResult(self: PyKDL.ChainIkSolverVel_wdls) → int

getSigma(self: PyKDL.ChainIkSolverVel_wdls, sigma_out: numpy.ndarray[numpy.float64[m, 1]]) → int

getSigmaMin(self: PyKDL.ChainIkSolverVel_wdls) → float

setEps(self: PyKDL.ChainIkSolverVel_wdls, eps: float) → None

setLambda(self: PyKDL.ChainIkSolverVel_wdls, lambda: float) → None

setMaxIter(self: PyKDL.ChainIkSolverVel_wdls, max_iter: int) → None

setWeightJS(self: PyKDL.ChainIkSolverVel_wdls, matrix: numpy.ndarray[numpy.float64[m, n]]) → int

setWeightTS(self: PyKDL.ChainIkSolverVel_wdls, matrix: numpy.ndarray[numpy.float64[m, n]]) → int

class PyKDL.ChainJntToJacDotSolver

BODYFIXED = 1

E_FKSOLVERPOS_FAILED = -102

E_JACSOLVER_FAILED = -101

E_JAC_DOT_FAILED = -100

HYBRID = 0

INERTIAL = 2

JntToJacDot(*args, **kwargs)

Overloaded function.

1. JntToJacDot(self: PyKDL.ChainJntToJacDotSolver, q_in: PyKDL.JntArrayVel, jdot: PyKDL.Jacobian, seg_nr: int = -1) -> int

2. JntToJacDot(self: PyKDL.ChainJntToJacDotSolver, q_in: PyKDL.JntArrayVel, jac_dot_q_dot: PyKDL.Twist, seg_nr: int = -1) -> int

setBodyFixedRepresentation(self: PyKDL.ChainJntToJacDotSolver) → None

setHybridRepresentation(self: PyKDL.ChainJntToJacDotSolver) → None

setInertialRepresentation(self: PyKDL.ChainJntToJacDotSolver) → None

setLockedJoints(self: PyKDL.ChainJntToJacDotSolver, locked_joints: list[bool]) → int

setRepresentation(self: PyKDL.ChainJntToJacDotSolver, representation: int) → None

class PyKDL.ChainJntToJacSolver

JntToJac(self: PyKDL.ChainJntToJacSolver, q_in: PyKDL.JntArray, jac: PyKDL.Jacobian, seg_nr: int = -1) → int

setLockedJoints(self: PyKDL.ChainJntToJacSolver, locked_joints: list[bool]) → int

PyKDL.Divide(*args, **kwargs)

Overloaded function.

1. Divide(src: PyKDL.JntArray, factor: float, dest: PyKDL.JntArray) -> None

2. Divide(src: PyKDL.JntArrayVel, factor: float, dest: PyKDL.JntArrayVel) -> None

3. Divide(src: PyKDL.JntArrayVel, factor: PyKDL.doubleVel, dest: PyKDL.JntArrayVel) -> None

4. Divide(src: PyKDL.JntSpaceInertiaMatrix, factor: float, dest: PyKDL.JntSpaceInertiaMatrix) -> None

PyKDL.Equal(*args, **kwargs)

Overloaded function.

1. Equal(a: PyKDL.Vector, b: PyKDL.Vector, eps: float = 1e-06) -> bool

2. Equal(a: PyKDL.Wrench, b: PyKDL.Wrench, eps: float = 1e-06) -> bool

3. Equal(a: PyKDL.Twist, b: PyKDL.Twist, eps: float = 1e-06) -> bool

4. Equal(a: PyKDL.Rotation, b: PyKDL.Rotation, eps: float = 1e-06) -> bool

5. Equal(a: PyKDL.Frame, b: PyKDL.Frame, eps: float = 1e-06) -> bool

6. Equal(r1: PyKDL.doubleVel, r2: PyKDL.doubleVel, eps: float = 1e-06) -> bool

7. Equal(r1: PyKDL.VectorVel, r2: PyKDL.VectorVel, eps: float = 1e-06) -> bool

8. Equal(r1: PyKDL.Vector, r2: PyKDL.VectorVel, eps: float = 1e-06) -> bool

9. Equal(r1: PyKDL.VectorVel, r2: PyKDL.Vector, eps: float = 1e-06) -> bool

10. Equal(a: PyKDL.TwistVel, b: PyKDL.TwistVel, eps: float = 1e-06) -> bool

11. Equal(a: PyKDL.Twist, b: PyKDL.TwistVel, eps: float = 1e-06) -> bool

12. Equal(a: PyKDL.TwistVel, b: PyKDL.Twist, eps: float = 1e-06) -> bool

13. Equal(r1: PyKDL.RotationVel, r2: PyKDL.RotationVel, eps: float = 1e-06) -> bool

14. Equal(r1: PyKDL.Rotation, r2: PyKDL.RotationVel, eps: float = 1e-06) -> bool

15. Equal(r1: PyKDL.RotationVel, r2: PyKDL.Rotation, eps: float = 1e-06) -> bool

16. Equal(r1: PyKDL.FrameVel, r2: PyKDL.FrameVel, eps: float = 1e-06) -> bool

17. Equal(r1: PyKDL.Frame, r2: PyKDL.FrameVel, eps: float = 1e-06) -> bool

18. Equal(r1: PyKDL.FrameVel, r2: PyKDL.Frame, eps: float = 1e-06) -> bool

19. Equal(src1: PyKDL.JntArray, src2: PyKDL.JntArray, eps: float = 1e-06) -> bool

20. Equal(src1: PyKDL.JntArrayVel, src2: PyKDL.JntArrayVel, eps: float = 1e-06) -> bool

21. Equal(src1: PyKDL.JntSpaceInertiaMatrix, src2: PyKDL.JntSpaceInertiaMatrix, eps: float = 1e-06) -> bool

class PyKDL.Frame

static DH(a: float, alpha: float, d: float, theta: float) → PyKDL.Frame

static DH_Craig1989(a: float, alpha: float, d: float, theta: float) → PyKDL.Frame

static Identity() → PyKDL.Frame

Integrate(self: PyKDL.Frame, twist: PyKDL.Twist, sample_frequency: float) → None

Inverse(*args, **kwargs)

Overloaded function.

1. Inverse(self: PyKDL.Frame) -> PyKDL.Frame

2. Inverse(self: PyKDL.Frame, arg0: PyKDL.Vector) -> PyKDL.Vector

3. Inverse(self: PyKDL.Frame, arg0: PyKDL.Wrench) -> PyKDL.Wrench

4. Inverse(self: PyKDL.Frame, arg0: PyKDL.Twist) -> PyKDL.Twist

property M

property p

class PyKDL.FrameVel

GetFrame(self: PyKDL.FrameVel) → PyKDL.Frame

GetTwist(self: PyKDL.FrameVel) → PyKDL.Twist

static Identity() → PyKDL.FrameVel

Inverse(*args, **kwargs)

Overloaded function.

1. Inverse(self: PyKDL.FrameVel) -> PyKDL.FrameVel

2. Inverse(self: PyKDL.FrameVel, arg0: PyKDL.VectorVel) -> PyKDL.VectorVel

3. Inverse(self: PyKDL.FrameVel, arg0: PyKDL.Vector) -> PyKDL.VectorVel

4. Inverse(self: PyKDL.FrameVel, arg0: PyKDL.TwistVel) -> PyKDL.TwistVel

5. Inverse(self: PyKDL.FrameVel, arg0: PyKDL.Twist) -> PyKDL.TwistVel

property M

deriv(self: PyKDL.FrameVel) → PyKDL.Twist

property p

value(self: PyKDL.FrameVel) → PyKDL.Frame

class PyKDL.Jacobian

changeBase(self: PyKDL.Jacobian, rot: PyKDL.Rotation) → None

changeRefFrame(self: PyKDL.Jacobian, frame: PyKDL.Frame) → None

changeRefPoint(self: PyKDL.Jacobian, base: PyKDL.Vector) → None

columns(self: PyKDL.Jacobian) → int

getColumn(self: PyKDL.Jacobian, index: int) → PyKDL.Twist

resize(self: PyKDL.Jacobian, nr_columns: int) → None

rows(self: PyKDL.Jacobian) → int

setColumn(self: PyKDL.Jacobian, index: int, t: PyKDL.Twist) → None

class PyKDL.JntArray

columns(self: PyKDL.JntArray) → int

resize(self: PyKDL.JntArray, size: int) → None

rows(self: PyKDL.JntArray) → int

class PyKDL.JntArrayVel

deriv(self: PyKDL.JntArrayVel) → PyKDL.JntArray

property q

property qdot

resize(self: PyKDL.JntArrayVel, size: int) → None

value(self: PyKDL.JntArrayVel) → PyKDL.JntArray

class PyKDL.JntSpaceInertiaMatrix

columns(self: PyKDL.JntSpaceInertiaMatrix) → int

resize(self: PyKDL.JntSpaceInertiaMatrix, new_size: int) → None

rows(self: PyKDL.JntSpaceInertiaMatrix) → int

class PyKDL.Joint

Fixed = <JointType.Fixed: 8>

JointAxis(self: PyKDL.Joint) → PyKDL.Vector

JointOrigin(self: PyKDL.Joint) → PyKDL.Vector

class JointType

Members:

RotAxis

RotX

RotY

RotZ

TransAxis

TransX

TransY

TransZ

Fixed

Fixed = <JointType.Fixed: 8>

RotAxis = <JointType.RotAxis: 0>

RotX = <JointType.RotX: 1>

RotY = <JointType.RotY: 2>

RotZ = <JointType.RotZ: 3>

TransAxis = <JointType.TransAxis: 4>

TransX = <JointType.TransX: 5>

TransY = <JointType.TransY: 6>

TransZ = <JointType.TransZ: 7>

property name

property value

RotAxis = <JointType.RotAxis: 0>

RotX = <JointType.RotX: 1>

RotY = <JointType.RotY: 2>

RotZ = <JointType.RotZ: 3>

TransAxis = <JointType.TransAxis: 4>

TransX = <JointType.TransX: 5>

TransY = <JointType.TransY: 6>

TransZ = <JointType.TransZ: 7>

getName(self: PyKDL.Joint) → str

getType(self: PyKDL.Joint) → PyKDL.Joint.JointType

getTypeName(self: PyKDL.Joint) → str

pose(self: PyKDL.Joint, q: float) → PyKDL.Frame

twist(self: PyKDL.Joint, q_dot: float) → PyKDL.Twist

PyKDL.Multiply(*args, **kwargs)

Overloaded function.

1. Multiply(src: PyKDL.JntArray, factor: float, dest: PyKDL.JntArray) -> None

2. Multiply(src: PyKDL.JntArrayVel, factor: float, dest: PyKDL.JntArrayVel) -> None

3. Multiply(src: PyKDL.JntArrayVel, factor: PyKDL.doubleVel, dest: PyKDL.JntArrayVel) -> None

4. Multiply(src: PyKDL.JntSpaceInertiaMatrix, factor: float, dest: PyKDL.JntSpaceInertiaMatrix) -> None

5. Multiply(src: PyKDL.JntSpaceInertiaMatrix, vec: PyKDL.JntArray, dest: PyKDL.JntArray) -> None

PyKDL.MultiplyJacobian(jac: PyKDL.Jacobian, src: PyKDL.JntArray, dest: PyKDL.Twist) → None

class PyKDL.RigidBodyInertia

RefPoint(self: PyKDL.RigidBodyInertia, p: PyKDL.Vector) → PyKDL.RigidBodyInertia

static Zero() → PyKDL.RigidBodyInertia

getCOG(self: PyKDL.RigidBodyInertia) → PyKDL.Vector

getMass(self: PyKDL.RigidBodyInertia) → float

getRotationalInertia(self: PyKDL.RigidBodyInertia) → PyKDL.RotationalInertia

class PyKDL.Rotation

DoRotX(self: PyKDL.Rotation, angle: float) → None

DoRotY(self: PyKDL.Rotation, angle: float) → None

DoRotZ(self: PyKDL.Rotation, angle: float) → None

static EulerZYX(alpha: float, beta: float, gamma: float) → PyKDL.Rotation

static EulerZYZ(alpha: float, beta: float, gamma: float) → PyKDL.Rotation

GetEulerZYX(self: PyKDL.Rotation) → tuple

GetEulerZYZ(self: PyKDL.Rotation) → tuple

GetQuaternion(self: PyKDL.Rotation) → tuple

GetRPY(self: PyKDL.Rotation) → tuple

GetRot(self: PyKDL.Rotation) → PyKDL.Vector

GetRotAngle(self: PyKDL.Rotation, eps: float = 1e-06) → tuple

static Identity() → PyKDL.Rotation

Inverse(*args, **kwargs)

Overloaded function.

1. Inverse(self: PyKDL.Rotation) -> PyKDL.Rotation

2. Inverse(self: PyKDL.Rotation, arg0: PyKDL.Vector) -> PyKDL.Vector

3. Inverse(self: PyKDL.Rotation, arg0: PyKDL.Wrench) -> PyKDL.Wrench

4. Inverse(self: PyKDL.Rotation, arg0: PyKDL.Twist) -> PyKDL.Twist

static Quaternion(x: float, y: float, z: float, w: float) → PyKDL.Rotation

static RPY(roll: float, pitch: float, yaw: float) → PyKDL.Rotation

static Rot(rotvec: PyKDL.Vector, angle: float) → PyKDL.Rotation

static Rot2(rotvec: PyKDL.Vector, angle: float) → PyKDL.Rotation

static RotX(angle: float) → PyKDL.Rotation

static RotY(angle: float) → PyKDL.Rotation

static RotZ(angle: float) → PyKDL.Rotation

SetInverse(self: PyKDL.Rotation) → None

UnitX(*args, **kwargs)

Overloaded function.

1. UnitX(self: PyKDL.Rotation) -> PyKDL.Vector

2. UnitX(self: PyKDL.Rotation, vec: PyKDL.Vector) -> None

UnitY(*args, **kwargs)

Overloaded function.

1. UnitY(self: PyKDL.Rotation) -> PyKDL.Vector

2. UnitY(self: PyKDL.Rotation, vec: PyKDL.Vector) -> None

UnitZ(*args, **kwargs)

Overloaded function.

1. UnitZ(self: PyKDL.Rotation) -> PyKDL.Vector

2. UnitZ(self: PyKDL.Rotation, vec: PyKDL.Vector) -> None

class PyKDL.RotationVel

DoRotX(self: PyKDL.RotationVel, angle: PyKDL.doubleVel) → None

DoRotY(self: PyKDL.RotationVel, angle: PyKDL.doubleVel) → None

DoRotZ(self: PyKDL.RotationVel, angle: PyKDL.doubleVel) → None

static Identity() → PyKDL.RotationVel

Inverse(*args, **kwargs)

Overloaded function.

1. Inverse(self: PyKDL.RotationVel) -> PyKDL.RotationVel

2. Inverse(self: PyKDL.RotationVel, arg0: PyKDL.VectorVel) -> PyKDL.VectorVel

3. Inverse(self: PyKDL.RotationVel, arg0: PyKDL.Vector) -> PyKDL.VectorVel

4. Inverse(self: PyKDL.RotationVel, arg0: PyKDL.TwistVel) -> PyKDL.TwistVel

5. Inverse(self: PyKDL.RotationVel, arg0: PyKDL.Twist) -> PyKDL.TwistVel

property R

static Rot(rotvec: PyKDL.Vector, angle: PyKDL.doubleVel) → PyKDL.RotationVel

static Rot2(rotvec: PyKDL.Vector, angle: PyKDL.doubleVel) → PyKDL.RotationVel

static RotX(angle: PyKDL.doubleVel) → PyKDL.RotationVel

static RotY(angle: PyKDL.doubleVel) → PyKDL.RotationVel

static RotZ(angle: PyKDL.doubleVel) → PyKDL.RotationVel

UnitX(self: PyKDL.RotationVel) → PyKDL.VectorVel

UnitY(self: PyKDL.RotationVel) → PyKDL.VectorVel

UnitZ(self: PyKDL.RotationVel) → PyKDL.VectorVel

deriv(self: PyKDL.RotationVel) → PyKDL.Vector

value(self: PyKDL.RotationVel) → PyKDL.Rotation

property w

class PyKDL.RotationalInertia

static Zero() → PyKDL.RotationalInertia

class PyKDL.Segment

getFrameToTip(self: PyKDL.Segment) → PyKDL.Frame

getInertia(self: PyKDL.Segment) → PyKDL.RigidBodyInertia

getJoint(self: PyKDL.Segment) → PyKDL.Joint

getName(self: PyKDL.Segment) → str

pose(self: PyKDL.Segment, q: float) → PyKDL.Frame

setInertia(self: PyKDL.Segment, I_in: PyKDL.RigidBodyInertia) → None

twist(self: PyKDL.Segment, q: float, q_dot: float) → PyKDL.Twist

PyKDL.SetToZero(*args, **kwargs)

Overloaded function.

1. SetToZero(vector: PyKDL.Vector) -> None

2. SetToZero(wrench: PyKDL.Wrench) -> None

3. SetToZero(twist: PyKDL.Twist) -> None

4. SetToZero(vector_vel: PyKDL.VectorVel) -> None

5. SetToZero(twist_vel: PyKDL.TwistVel) -> None

6. SetToZero(jac: PyKDL.Jacobian) -> None

7. SetToZero(jnt_array: PyKDL.JntArray) -> None

8. SetToZero(jnt_array_vel: PyKDL.JntArrayVel) -> None

9. SetToZero(matrix: PyKDL.JntSpaceInertiaMatrix) -> None

class PyKDL.SolverI

getError(self: PyKDL.SolverI) → int

strError(self: PyKDL.SolverI, error: int) → str

updateInternalDataStructures(self: PyKDL.SolverI) → None

PyKDL.Subtract(*args, **kwargs)

Overloaded function.

1. Subtract(src1: PyKDL.JntArray, src2: PyKDL.JntArray, dest: PyKDL.JntArray) -> None

2. Subtract(src1: PyKDL.JntArrayVel, src2: PyKDL.JntArrayVel, dest: PyKDL.JntArrayVel) -> None

3. Subtract(src1: PyKDL.JntArrayVel, src2: PyKDL.JntArray, dest: PyKDL.JntArrayVel) -> None

4. Subtract(src1: PyKDL.JntSpaceInertiaMatrix, src2: PyKDL.JntSpaceInertiaMatrix, dest: PyKDL.JntSpaceInertiaMatrix) -> None

class PyKDL.Tree

addChain(self: PyKDL.Tree, chain: PyKDL.Chain, hook_name: str) → bool

addSegment(self: PyKDL.Tree, segment: PyKDL.Segment, hook_name: str) → bool

addTree(self: PyKDL.Tree, tree: PyKDL.Tree, hook_name: str) → bool

getChain(self: PyKDL.Tree, chain_root: str, chain_tip: str) → PyKDL.Chain

getNrOfJoints(self: PyKDL.Tree) → int

getNrOfSegments(self: PyKDL.Tree) → int

class PyKDL.Twist

RefPoint(self: PyKDL.Twist, base: PyKDL.Vector) → PyKDL.Twist

ReverseSign(self: PyKDL.Twist) → None

static Zero() → PyKDL.Twist

property rot

property vel

class PyKDL.TwistVel

GetTwist(self: PyKDL.TwistVel) → PyKDL.Twist

GetTwistDot(self: PyKDL.TwistVel) → PyKDL.Twist

RefPoint(self: PyKDL.TwistVel, base: PyKDL.VectorVel) → PyKDL.TwistVel

ReverseSign(self: PyKDL.TwistVel) → None

static Zero() → PyKDL.TwistVel

deriv(self: PyKDL.TwistVel) → PyKDL.Twist

property rot

value(self: PyKDL.TwistVel) → PyKDL.Twist

property vel

class PyKDL.Vector

Norm(self: PyKDL.Vector, eps: float = 1e-06) → float

Normalize(self: PyKDL.Vector, eps: float = 1e-06) → float

ReverseSign(self: PyKDL.Vector) → None

static Zero() → PyKDL.Vector

x(*args, **kwargs)

Overloaded function.

1. x(self: PyKDL.Vector, value: float) -> None

2. x(self: PyKDL.Vector) -> float

y(*args, **kwargs)

Overloaded function.

1. y(self: PyKDL.Vector, value: float) -> None

2. y(self: PyKDL.Vector) -> float

z(*args, **kwargs)

Overloaded function.

1. z(self: PyKDL.Vector, value: float) -> None

2. z(self: PyKDL.Vector) -> float

class PyKDL.VectorVel

Norm(self: PyKDL.VectorVel, eps: float = 1e-06) → PyKDL.doubleVel

ReverseSign(self: PyKDL.VectorVel) → None

static Zero() → PyKDL.VectorVel

deriv(self: PyKDL.VectorVel) → PyKDL.Vector

property p

property v

value(self: PyKDL.VectorVel) → PyKDL.Vector

class PyKDL.Wrench

RefPoint(self: PyKDL.Wrench, base: PyKDL.Vector) → PyKDL.Wrench

ReverseSign(self: PyKDL.Wrench) → None

static Zero() → PyKDL.Wrench

property force

property torque

PyKDL.addDelta(*args, **kwargs)

Overloaded function.

1. addDelta(a: PyKDL.Vector, da: PyKDL.Vector, dt: float = 1) -> PyKDL.Vector

2. addDelta(a: PyKDL.Rotation, da: PyKDL.Vector, dt: float = 1) -> PyKDL.Rotation

3. addDelta(a: PyKDL.Frame, da: PyKDL.Twist, dt: float = 1) -> PyKDL.Frame

4. addDelta(a: PyKDL.Twist, da: PyKDL.Twist, dt: float = 1) -> PyKDL.Twist

5. addDelta(a: PyKDL.Wrench, da: PyKDL.Wrench, dt: float = 1) -> PyKDL.Wrench

6. addDelta(a: PyKDL.doubleVel, da: PyKDL.doubleVel, dt: float = 1.0) -> PyKDL.doubleVel

7. addDelta(a: PyKDL.VectorVel, da: PyKDL.VectorVel, dt: float = 1.0) -> PyKDL.VectorVel

8. addDelta(a: PyKDL.RotationVel, da: PyKDL.VectorVel, dt: float = 1.0) -> PyKDL.RotationVel

9. addDelta(a: PyKDL.FrameVel, da: PyKDL.TwistVel, dt: float = 1.0) -> PyKDL.FrameVel

PyKDL.changeBase(src: PyKDL.Jacobian, rot: PyKDL.Rotation, dest: PyKDL.Jacobian) → bool

PyKDL.changeRefFrame(src: PyKDL.Jacobian, frame: PyKDL.Frame, dest: PyKDL.Jacobian) → bool

PyKDL.changeRefPoint(src: PyKDL.Jacobian, base: PyKDL.Vector, dest: PyKDL.Jacobian) → bool

PyKDL.diff(*args, **kwargs)

Overloaded function.

1. diff(a: PyKDL.Vector, b: PyKDL.Vector, dt: float = 1) -> PyKDL.Vector

2. diff(a: PyKDL.Rotation, b: PyKDL.Rotation, dt: float = 1) -> PyKDL.Vector

3. diff(a: PyKDL.Frame, b: PyKDL.Frame, dt: float = 1) -> PyKDL.Twist

4. diff(a: PyKDL.Twist, b: PyKDL.Twist, dt: float = 1) -> PyKDL.Twist

5. diff(a: PyKDL.Wrench, b: PyKDL.Wrench, dt: float = 1) -> PyKDL.Wrench

6. diff(a: PyKDL.doubleVel, b: PyKDL.doubleVel, dt: float = 1.0) -> PyKDL.doubleVel

7. diff(a: PyKDL.VectorVel, b: PyKDL.VectorVel, dt: float = 1.0) -> PyKDL.VectorVel

8. diff(a: PyKDL.RotationVel, b: PyKDL.RotationVel, dt: float = 1.0) -> PyKDL.VectorVel

9. diff(a: PyKDL.FrameVel, b: PyKDL.FrameVel, dt: float = 1.0) -> PyKDL.TwistVel

PyKDL.dot(*args, **kwargs)

Overloaded function.

1. dot(arg0: PyKDL.Vector, arg1: PyKDL.Vector) -> float

2. dot(arg0: PyKDL.Twist, arg1: PyKDL.Wrench) -> float

3. dot(arg0: PyKDL.Wrench, arg1: PyKDL.Twist) -> float

4. dot(arg0: PyKDL.VectorVel, arg1: PyKDL.VectorVel) -> PyKDL.doubleVel

5. dot(arg0: PyKDL.VectorVel, arg1: PyKDL.Vector) -> PyKDL.doubleVel

6. dot(arg0: PyKDL.Vector, arg1: PyKDL.VectorVel) -> PyKDL.doubleVel

class PyKDL.doubleVel

deriv(self: PyKDL.doubleVel) → float

property grad

property t

value(self: PyKDL.doubleVel) → float