pbvs-four-points Namespace Reference

Classes
class	PlotPbvs

Variables
	usetex
	preamble
	parser = argparse.ArgumentParser(description='The script corresponding to TP 4, IBVS on 4 points.')
	type
	int
	default
	dest
	help
	str
	action
	args
	unknown_args
	c_T_w = HomogeneousMatrix()
	thetau = ThetaUVector(0.0, 0.0, 0.0)
	c_R_w = RotationMatrix(thetau)
	c_t_w = TranslationVector(0.0, 0.0, 1.3)
	cd_T_w = HomogeneousMatrix()
	cd_R_w = RotationMatrix(thetau)
	cd_t_w = TranslationVector(0.0, 0.0, 1.0)
list	wX = []
	x = np.zeros(8)
	xd = np.zeros(8)
	t = FeatureTranslation(FeatureTranslation.cdMc)
	tu = FeatureThetaU(FeatureThetaU.cdRc)
	td = FeatureTranslation(FeatureTranslation.cdMc)
	tud = FeatureThetaU(FeatureThetaU.cdRc)
	task = Servo()
int	iter = 0
	cd_T_c = cd_T_w * c_T_w.inverse()
	v = task.computeControlLaw()
	e = task.getError()
	norm_e = e.frobeniusNorm()
	Lx = task.getInteractionMatrix()
	plot = PlotPbvs(e, norm_e, v, x, xd, c_T_w, args.plot_log_scale)
	c_T_c_delta_t = ExponentialMap.direct(v, 0.040)

Variable Documentation

action

pbvs-four-points.action

Definition at line 151 of file pbvs-four-points.py.

args

pbvs-four-points.args

Definition at line 154 of file pbvs-four-points.py.

c_R_w

pbvs-four-points.c_R_w = RotationMatrix(thetau)

Definition at line 167 of file pbvs-four-points.py.

c_T_c_delta_t

pbvs-four-points.c_T_c_delta_t = ExponentialMap.direct(v, 0.040)

Definition at line 278 of file pbvs-four-points.py.

c_T_w

pbvs-four-points.c_T_w = HomogeneousMatrix()

Definition at line 162 of file pbvs-four-points.py.

c_t_w

pbvs-four-points.c_t_w = TranslationVector(0.0, 0.0, 1.3)

Definition at line 168 of file pbvs-four-points.py.

cd_R_w

pbvs-four-points.cd_R_w = RotationMatrix(thetau)

Definition at line 198 of file pbvs-four-points.py.

cd_T_c

pbvs-four-points.cd_T_c = cd_T_w * c_T_w.inverse()

Definition at line 246 of file pbvs-four-points.py.

cd_T_w

pbvs-four-points.cd_T_w = HomogeneousMatrix()

Definition at line 196 of file pbvs-four-points.py.

cd_t_w

pbvs-four-points.cd_t_w = TranslationVector(0.0, 0.0, 1.0)

Definition at line 199 of file pbvs-four-points.py.

default

pbvs-four-points.default

Definition at line 149 of file pbvs-four-points.py.

dest

pbvs-four-points.dest

Definition at line 149 of file pbvs-four-points.py.

e

pbvs-four-points.e = task.getError()

Definition at line 267 of file pbvs-four-points.py.

help

pbvs-four-points.help

Definition at line 149 of file pbvs-four-points.py.

int

pbvs-four-points.int

Definition at line 149 of file pbvs-four-points.py.

iter

int pbvs-four-points.iter = 0

Definition at line 232 of file pbvs-four-points.py.

Lx

pbvs-four-points.Lx = task.getInteractionMatrix()

Definition at line 269 of file pbvs-four-points.py.

norm_e

pbvs-four-points.norm_e = e.frobeniusNorm()

Definition at line 268 of file pbvs-four-points.py.

parser

pbvs-four-points.parser = argparse.ArgumentParser(description='The script corresponding to TP 4, IBVS on 4 points.')

Definition at line 148 of file pbvs-four-points.py.

plot

pbvs-four-points.plot = PlotPbvs(e, norm_e, v, x, xd, c_T_w, args.plot_log_scale)

Definition at line 273 of file pbvs-four-points.py.

preamble

pbvs-four-points.preamble

Definition at line 46 of file pbvs-four-points.py.

str

pbvs-four-points.str

Definition at line 150 of file pbvs-four-points.py.

t

pbvs-four-points.t = FeatureTranslation(FeatureTranslation.cdMc)

Definition at line 220 of file pbvs-four-points.py.

task

pbvs-four-points.task = Servo()

Definition at line 226 of file pbvs-four-points.py.

td

pbvs-four-points.td = FeatureTranslation(FeatureTranslation.cdMc)

Definition at line 222 of file pbvs-four-points.py.

thetau

pbvs-four-points.thetau = ThetaUVector(0.0, 0.0, 0.0)

Definition at line 166 of file pbvs-four-points.py.

tu

pbvs-four-points.tu = FeatureThetaU(FeatureThetaU.cdRc)

Definition at line 221 of file pbvs-four-points.py.

tud

pbvs-four-points.tud = FeatureThetaU(FeatureThetaU.cdRc)

Definition at line 223 of file pbvs-four-points.py.

type

pbvs-four-points.type

Definition at line 149 of file pbvs-four-points.py.

unknown_args

pbvs-four-points.unknown_args

Definition at line 154 of file pbvs-four-points.py.

usetex

pbvs-four-points.usetex

Definition at line 45 of file pbvs-four-points.py.

v

pbvs-four-points.v = task.computeControlLaw()

Definition at line 266 of file pbvs-four-points.py.

wX

list pbvs-four-points.wX = []

Definition at line 204 of file pbvs-four-points.py.

x

pbvs-four-points.x = np.zeros(8)

Definition at line 211 of file pbvs-four-points.py.

xd

pbvs-four-points.xd = np.zeros(8)

Definition at line 212 of file pbvs-four-points.py.