.. role:: hidden :class: hidden-section Data types ========================= .. automodule:: xamla_motion.data_types .. currentmodule:: xamla_motion.data_types Overview ------------------------------------------ In order to give a better overview of the data types which are defined by xamla_motion these are devided into five groups. The groups are robot and environment description types, joint space data types, task space data types and state/result data types Robot and environment description types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ================================================================== ======================================================================================== Data type Description ================================================================== ======================================================================================== :class:`xamla_motion.data_types.JointSet` Manages a list of joint names which describes a robot or part of it :class:`xamla_motion.data_types.EndEffectorDescription` Describes an end effector of a robot :class:`xamla_motion.data_types.MoveGroupDescription` Describes a robot or a subset of it by move groups, end effectors and joints :class:`xamla_motion.data_types.CollisionPrimitive` Defines and describe a primitive collision object :class:`xamla_motion.data_types.CollisionObject` Defines a collision object which consists of a single primitive or an assembly of them ================================================================== ======================================================================================== Joint space data types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ================================================================== ======================================================================================== Data type Description ================================================================== ======================================================================================== :class:`xamla_motion.data_types.JointValues` Manages respective joint values for a specific joint set :class:`xamla_motion.data_types.JointLimits` Manages the joint limits for a specific set of joints :class:`xamla_motion.data_types.JointStates` Can hold a complete JointState (pos, vel, eff) for a specific joint set :class:`xamla_motion.data_types.JointPath` Describes a path by a list of joint configurations/values :class:`xamla_motion.data_types.JointTrajectoryPoint` Defines a point of a trajectory for a specific joint set :class:`xamla_motion.data_types.JointTrajectory` Describes a trajectory by a list of trajectory points :class:`xamla_motion.data_typesPlanParameters` Holds all constrains for joint space trajectory planning ================================================================== ======================================================================================== Task space data types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ================================================================== ======================================================================================== Data type Description ================================================================== ======================================================================================== :class:`xamla_motion.data_types.Pose` Pose defined by three dimensional translation and rotation :class:`xamla_motion.data_types.EndEffectorLimits` Holds hold task space / endeffector limits :class:`xamla_motion.data_types.CartesianPath` Describes a path by a list of poses :class:`xamla_motion.data_types.TaskSpacePlanParameters` Holds all constrains for task space trajectory planning ================================================================== ======================================================================================== State and result data types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ================================================================== ======================================================================================== Data type Description ================================================================== ======================================================================================== :class:`xamla_motion.data_types.MoveGripperResult` Represents the result of a common gripper action :class:`xamla_motion.data_types.WsgResult` Respresents the result of a WSG gripper action :class:`xamla_motion.data_types.IkResults` Holds result of a inverse kinematics query :class:`xamla_motion.data_types.SteppedMotionState` Carries a state snapshot of a stepped motion operation :class:`xamla_motion.data_types.JointValuesCollisions` Represents a robot collision ================================================================== ======================================================================================== Robot and environment description types ------------------------------------------ .. _jointset: JointSet ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointSet :members: .. _endeffectordescription: EndEffectorDescription ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: .. autoclass:: EndEffectorDescription :members: Details: .. _movegroupdescription: MoveGroupDescription ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: MoveGroupDescription :members: .. _collisionprimitive: CollisionPrimitive ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: CollisionPrimitive :members: .. _collisionobject: CollisionObject ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: CollisionObject :members: Joint space data types ------------------------------------------ JointValues ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointValues :members: JointLimits ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointLimits :members: JointStates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointStates :members: JointPath ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointPath :members: JointTrajectoryPoint ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointTrajectoryPoint :members: JointTrajectory ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointTrajectory :members: PlanParameters ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: PlanParameters :members: Task space data types ------------------------------------------ Pose ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: Pose :members: EndEffectorLimits ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: EndEffectorLimits :members: CartesianPath ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: CartesianPath :members: TaskSpacePlanParameters ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: TaskSpacePlanParameters :members: State and result data types ------------------------------------------ MoveGripperResult ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: MoveGripperResult :members: WsgResult ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: WsgResult :members: IkResults ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: IkResults :members: SteppedMotionState ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: SteppedMotionState :members: JointValuesCollisions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How to use it: Details: .. autoclass:: JointValuesCollisions :members: