Skip to content

Commit a2b2ee9

Browse files
actions-useractions-user
committed
Update documentation
1 parent 9df87d7 commit a2b2ee9

File tree

302 files changed

+64570
-23721
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

302 files changed

+64570
-23721
lines changed

‎IK/ik.html

Lines changed: 422 additions & 0 deletions
Large diffs are not rendered by default.

‎IK/ik_gn.html

Lines changed: 269 additions & 0 deletions
Large diffs are not rendered by default.

‎IK/ik_lm.html

Lines changed: 269 additions & 0 deletions
Large diffs are not rendered by default.

‎IK/ik_nr.html

Lines changed: 270 additions & 0 deletions
Large diffs are not rendered by default.

‎IK/ik_qp.html

Lines changed: 262 additions & 0 deletions
Large diffs are not rendered by default.

‎IK/iksolution.html

Lines changed: 202 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,202 @@
1+
<!DOCTYPE html>
2+
<html class="writer-html5" lang="en" >
3+
<head>
4+
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
5+
<link rel="icon" sizes="16x16" type="image/png" href="../_static/favicon-16x16.png">
6+
<link rel="icon" sizes="32x32" type="image/png" href="../_static/favicon-32x32.png">
7+
<link rel="apple-touch-icon" sizes="180x180" type="image/png" href="../_static/apple-touch-icon.png">
8+
<link rel="android-chrome" sizes="192x192" type="image/png" href="../_static/android-chrome-192x192.png ">
9+
<link rel="android-chrome" sizes="512x512" type="image/png" href="../_static/android-chrome-512x512.png ">
10+
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
11+
<title>IKSolution - as IK Solution dataclass &mdash; Robotics Toolbox for Python documentation</title>
12+
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
13+
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
14+
<link rel="stylesheet" href="../_static/graphviz.css" type="text/css" />
15+
<link rel="stylesheet" href="../_static/plot_directive.css" type="text/css" />
16+
<link rel="stylesheet" href="../_static/css/custom.css" type="text/css" />
17+
<!--[if lt IE 9]>
18+
<script src="../_static/js/html5shiv.min.js"></script>
19+
<![endif]-->
20+
21+
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
22+
<script src="../_static/jquery.js"></script>
23+
<script src="../_static/underscore.js"></script>
24+
<script src="../_static/_sphinx_javascript_frameworks_compat.js"></script>
25+
<script src="../_static/doctools.js"></script>
26+
<script src="../_static/sphinx_highlight.js"></script>
27+
<script src="../_static/js/theme.js"></script>
28+
<link rel="index" title="Index" href="../genindex.html" />
29+
<link rel="search" title="Search" href="../search.html" />
30+
<link rel="next" title="IK_LM - Levemberg-Marquadt Numerical IK" href="ik_lm.html" />
31+
<link rel="prev" title="IKSolver._check_jl" href="stubs/roboticstoolbox.robot.IK.IKSolver._check_jl.html" />
32+
</head>
33+
34+
<body class="wy-body-for-nav">
35+
<div class="wy-grid-for-nav">
36+
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
37+
<div class="wy-side-scroll">
38+
<div class="wy-side-nav-search" >
39+
40+
41+
42+
<a href="../index.html" class="icon icon-home">
43+
Robotics Toolbox for Python
44+
<img src="../_static/RobToolBox_RoundLogoB.png" class="logo" alt="Logo"/>
45+
</a>
46+
<div role="search">
47+
<form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
48+
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
49+
<input type="hidden" name="check_keywords" value="yes" />
50+
<input type="hidden" name="area" value="default" />
51+
</form>
52+
</div>
53+
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
54+
<ul class="current">
55+
<li class="toctree-l1"><a class="reference internal" href="../intro.html">Introduction</a></li>
56+
<li class="toctree-l1 current"><a class="reference internal" href="../arm.html">Robot Arms</a><ul class="current">
57+
<li class="toctree-l2"><a class="reference internal" href="../arm_models.html">Manipulator models</a></li>
58+
<li class="toctree-l2"><a class="reference internal" href="../arm_trajectory.html">Trajectories</a></li>
59+
<li class="toctree-l2 current"><a class="reference internal" href="ik.html">Inverse Kinematics</a><ul class="current">
60+
<li class="toctree-l3"><a class="reference internal" href="ik.html#c-solvers">C++ Solvers</a></li>
61+
<li class="toctree-l3 current"><a class="reference internal" href="ik.html#python-solvers">Python Solvers</a><ul class="current">
62+
<li class="toctree-l4"><a class="reference internal" href="iksolver.html">IKSolver - IK Solver Abstract Base Class</a></li>
63+
<li class="toctree-l4 current"><a class="current reference internal" href="#">IKSolution - as IK Solution dataclass</a><ul>
64+
<li class="toctree-l5"><a class="reference internal" href="#roboticstoolbox.robot.IK.IKSolution"><code class="docutils literal notranslate"><span class="pre">IKSolution</span></code></a></li>
65+
</ul>
66+
</li>
67+
<li class="toctree-l4"><a class="reference internal" href="ik_lm.html">IK_LM - Levemberg-Marquadt Numerical IK</a></li>
68+
<li class="toctree-l4"><a class="reference internal" href="ik_qp.html">IK_QP - Numerical IK with Quadratic Programming</a></li>
69+
<li class="toctree-l4"><a class="reference internal" href="ik_gn.html">IK_GN - Gauss-Newton Numerical IK</a></li>
70+
<li class="toctree-l4"><a class="reference internal" href="ik_nr.html">IK_NR - Newton-Raphson Numerical IK</a></li>
71+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.ETS.ETS.ikine_LM.html">ETS.ikine_LM</a></li>
72+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.ETS.ETS.ikine_QP.html">ETS.ikine_QP</a></li>
73+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.ETS.ETS.ikine_GN.html">ETS.ikine_GN</a></li>
74+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.ETS.ETS.ikine_NR.html">ETS.ikine_NR</a></li>
75+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.Robot.Robot.ikine_LM.html">Robot.ikine_LM</a></li>
76+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.Robot.Robot.ikine_QP.html">Robot.ikine_QP</a></li>
77+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.Robot.Robot.ikine_GN.html">Robot.ikine_GN</a></li>
78+
<li class="toctree-l4"><a class="reference internal" href="stubs/roboticstoolbox.robot.Robot.Robot.ikine_NR.html">Robot.ikine_NR</a></li>
79+
</ul>
80+
</li>
81+
</ul>
82+
</li>
83+
</ul>
84+
</li>
85+
<li class="toctree-l1"><a class="reference internal" href="../mobile.html">Mobile robots</a></li>
86+
<li class="toctree-l1"><a class="reference internal" href="../blocks.html">bdsim blocks</a></li>
87+
</ul>
88+
89+
</div>
90+
</div>
91+
</nav>
92+
93+
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
94+
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
95+
<a href="../index.html">Robotics Toolbox for Python</a>
96+
</nav>
97+
98+
<div class="wy-nav-content">
99+
<div class="rst-content">
100+
<div role="navigation" aria-label="Page navigation">
101+
<ul class="wy-breadcrumbs">
102+
<li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
103+
<li class="breadcrumb-item"><a href="../arm.html">Robot Arms</a></li>
104+
<li class="breadcrumb-item"><a href="ik.html">Inverse Kinematics</a></li>
105+
<li class="breadcrumb-item active">IKSolution - as IK Solution dataclass</li>
106+
<li class="wy-breadcrumbs-aside">
107+
</li>
108+
</ul>
109+
<hr/>
110+
</div>
111+
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
112+
<div itemprop="articleBody">
113+
114+
<section id="iksolution-as-ik-solution-dataclass">
115+
<h1>IKSolution - as IK Solution dataclass<a class="headerlink" href="#iksolution-as-ik-solution-dataclass" title="Permalink to this heading"></a></h1>
116+
<dl class="py class">
117+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution">
118+
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">roboticstoolbox.robot.IK.</span></span><span class="sig-name descname"><span class="pre">IKSolution</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">success</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">iterations</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">searches</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">residual</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reason</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">''</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/roboticstoolbox/robot/IK.html#IKSolution"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution" title="Permalink to this definition"></a></dt>
119+
<dd><p>A dataclass for representing an IK solution</p>
120+
<dl class="py attribute">
121+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution.q">
122+
<span class="sig-name descname"><span class="pre">q</span></span><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution.q" title="Permalink to this definition"></a></dt>
123+
<dd><p>The joint coordinates of the solution (ndarray). Note that these
124+
will not be valid if failed to find a solution</p>
125+
</dd></dl>
126+
127+
<dl class="py attribute">
128+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution.success">
129+
<span class="sig-name descname"><span class="pre">success</span></span><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution.success" title="Permalink to this definition"></a></dt>
130+
<dd><p>True if a valid solution was found</p>
131+
</dd></dl>
132+
133+
<dl class="py attribute">
134+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution.iterations">
135+
<span class="sig-name descname"><span class="pre">iterations</span></span><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution.iterations" title="Permalink to this definition"></a></dt>
136+
<dd><p>How many iterations were performed</p>
137+
</dd></dl>
138+
139+
<dl class="py attribute">
140+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution.searches">
141+
<span class="sig-name descname"><span class="pre">searches</span></span><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution.searches" title="Permalink to this definition"></a></dt>
142+
<dd><p>How many searches were performed</p>
143+
</dd></dl>
144+
145+
<dl class="py attribute">
146+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution.residual">
147+
<span class="sig-name descname"><span class="pre">residual</span></span><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution.residual" title="Permalink to this definition"></a></dt>
148+
<dd><p>The final error value from the cost function</p>
149+
</dd></dl>
150+
151+
<dl class="py attribute">
152+
<dt class="sig sig-object py" id="roboticstoolbox.robot.IK.IKSolution.reason">
153+
<span class="sig-name descname"><span class="pre">reason</span></span><a class="headerlink" href="#roboticstoolbox.robot.IK.IKSolution.reason" title="Permalink to this definition"></a></dt>
154+
<dd><p>The reason the IK problem failed if applicable</p>
155+
</dd></dl>
156+
157+
<div class="versionchanged">
158+
<p><span class="versionmodified changed">Changed in version 1.0.3: </span>Added IKSolution dataclass to replace the IKsolution named tuple</p>
159+
</div>
160+
</dd></dl>
161+
162+
</section>
163+
164+
165+
</div>
166+
</div>
167+
<footer>
168+
169+
<hr/>
170+
171+
<div role="contentinfo">
172+
<p>&#169; Copyright 2023, Jesse Haviland and Peter Corke.
173+
<span class="lastupdated">Last updated on 14-May-2023.
174+
</span></p>
175+
</div>
176+
177+
178+
179+
</footer>
180+
</div>
181+
</div>
182+
</section>
183+
</div>
184+
<script>
185+
jQuery(function () {
186+
SphinxRtdTheme.Navigation.enable(true);
187+
});
188+
</script>
189+
<!-- Theme Analytics -->
190+
<script async src="https://www.googletagmanager.com/gtag/js?id=G-11Q6WJM565"></script>
191+
<script>
192+
window.dataLayer = window.dataLayer || [];
193+
function gtag(){dataLayer.push(arguments);}
194+
gtag('js', new Date());
195+
196+
gtag('config', 'G-11Q6WJM565', {
197+
'anonymize_ip': false,
198+
});
199+
</script>
200+
201+
</body>
202+
</html>

0 commit comments

Comments
 (0)