SimpleKL Namespace Reference

Provides some simple kinematic functions. More...

Functions
def	rotx
	Rotation matrix around x axis. More...
def	roty
	Rotation matrix around y axis. More...
def	rotz
	Rotation matrix around z axis. More...
def	CloseEnough
	Checks whether two faces close enough. More...
def	Connectable
	Giving position of two modules to check which faces can be connected. More...

Detailed Description

Provides some simple kinematic functions.

Function Documentation

def SimpleKL.CloseEnough	(		pos1,
			pos2
	)

Checks whether two faces close enough.

Parameters

pos1	Face norm vector of the first face
pos2	Face norm vector of the second face

Returns

If two faces are close, return True; otherwise, return False

def SimpleKL.Connectable	(		module1,
			joint1,
			module2,
			joint2
	)

Giving position of two modules to check which faces can be connected.

Parameters

pos1	Position of the first module 1
joint1	List of joint anlges of module 1
pos1	Position of the first module 2
joint1	List of joint anlges of a module 2

Returns

If connectable, then return connectable node index number; otherwise False

def SimpleKL.rotx

(

row

)

Rotation matrix around x axis.

Parameters

row

Row

Returns

Numpy matrix object of rotation matrix

def SimpleKL.roty

(

pitch

)

Rotation matrix around y axis.

Parameters

pitch

Pitch

Returns

Numpy matrix object of rotation matrix

def SimpleKL.rotz

(

yaw

)

Rotation matrix around z axis.

Parameters

yaw

Yaw

Returns

Numpy matrix object of rotation matrix