sdurw_control module
- class sdurw_control.sdurw_control.Controller(*args, **kwargs)
Bases:
objectinterface that defines functionality for control of devices and actuators
- getName()
get the unique name of this controller :rtype: string :return: name of the controller.
- setName(name)
set the name of the controller :type name: string :param name: [in] the name
- property thisown
The membership flag
- class sdurw_control.sdurw_control.ControllerCPtr(*args)
Bases:
objectPtr stores a pointer and optionally takes ownership of the value.
- deref()
The pointer stored in the object.
- getDeref()
Member access operator.
- getName()
get the unique name of this controller :rtype: string :return: name of the controller.
- isNull()
checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null
check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.
- property thisown
The membership flag
- class sdurw_control.sdurw_control.ControllerPtr(*args)
Bases:
objectPtr stores a pointer and optionally takes ownership of the value.
- cptr()
- deref()
The pointer stored in the object.
- getDeref()
Member access operator.
- getName()
get the unique name of this controller :rtype: string :return: name of the controller.
- isNull()
checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null
check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.
- setName(name)
set the name of the controller :type name: string :param name: [in] the name
- property thisown
The membership flag
- class sdurw_control.sdurw_control.JointController(*args, **kwargs)
Bases:
objectthe joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos… must be available in the class implementing JointController interface
- CNT_POSITION = 2
- CURRENT = 16
- FORCE = 8
- POSITION = 1
- VELOCITY = 4
- getControlModes()
gets the control mode mask. Defines which types of control the JointController supports
- getModel()
get kinematic model of device that is controlled
- getQ()
return the current position of the controlled robot
- getQd()
return the current velocity
- setControlMode(mode)
sets the control mode of this JointController. If the mode is unsupported an exception is thrown
- setTargetAcc(vals)
sets the target acceleration
- Parameters
vals (
Q) – [in] in m/s^2
- setTargetPos(vals)
sets the target joint value for the current control mode.
- setTargetVel(vals)
sets the target velocity
- Parameters
vals (
Q) – [in] in m/s
- property thisown
The membership flag
- class sdurw_control.sdurw_control.JointControllerPtr(*args)
Bases:
objectPtr stores a pointer and optionally takes ownership of the value.
- deref()
The pointer stored in the object.
- getControlModes()
gets the control mode mask. Defines which types of control the JointController supports
- getDeref()
Member access operator.
- getModel()
get kinematic model of device that is controlled
- getQ()
return the current position of the controlled robot
- getQd()
return the current velocity
- isNull()
checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null
check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.
- setControlMode(mode)
sets the control mode of this JointController. If the mode is unsupported an exception is thrown
- setTargetAcc(vals)
sets the target acceleration
- Parameters
vals (
Q) – [in] in m/s^2
- setTargetPos(vals)
sets the target joint value for the current control mode.
- setTargetVel(vals)
sets the target velocity
- Parameters
vals (
Q) – [in] in m/s
- property thisown
The membership flag
- class sdurw_control.sdurw_control.SyncVelocityRamp(*args)
Bases:
objectProvides generation of synchronized velocity ramps for a device
The synchronized velocity ramp calculates a profile for moving linearly between two configurations a quick as possible without violating the dynamic limitations specified.
- ddx(t)
Returns the accelerations for time t
If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(), respectively.
- Parameters
t (float) – [in] time
- Return type
Q- Returns
Accelerations at time t
- duration()
Returns the time it takes to run the profile :rtype: float :return: The duration
- dx(t)
Returns the velocities for time t
If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(), respectively.
- Parameters
t (float) – [in] time
- Return type
Q- Returns
Velocities at time t
- getExtremumAccelerations()
Returns the extremum of the acceleration for the joints :rtype:
Q:return: Joint extremum accelerations
- getExtremumVelocities()
Returns the extremum of the velocities for the joints :rtype:
Q:return: Joint extremum velocities
- setTarget(qstart, qend)
Specifies from and to where a ramp should be generated. :type qstart:
Q:param qstart: [in] The start configuration :type qend:Q:param qend: [in] The end configuration
- property thisown
The membership flag
- x(t)
Returns the configuration for time t
If t<0 or t>duration() it returns the start and end configurations respectively.
- Parameters
t (float) – [in] time
- Return type
Q- Returns
Configuration at time t
- class sdurw_control.sdurw_control.SyncVelocityRampCPtr(*args)
Bases:
objectPtr stores a pointer and optionally takes ownership of the value.
- deref()
The pointer stored in the object.
- getDeref()
Member access operator.
- isNull()
checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null
check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.
- property thisown
The membership flag
- class sdurw_control.sdurw_control.SyncVelocityRampPtr(*args)
Bases:
objectPtr stores a pointer and optionally takes ownership of the value.
- cptr()
- ddx(t)
Returns the accelerations for time t
If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(), respectively.
- Parameters
t (float) – [in] time
- Return type
Q- Returns
Accelerations at time t
- deref()
The pointer stored in the object.
- duration()
Returns the time it takes to run the profile :rtype: float :return: The duration
- dx(t)
Returns the velocities for time t
If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(), respectively.
- Parameters
t (float) – [in] time
- Return type
Q- Returns
Velocities at time t
- getDeref()
Member access operator.
- getExtremumAccelerations()
Returns the extremum of the acceleration for the joints :rtype:
Q:return: Joint extremum accelerations
- getExtremumVelocities()
Returns the extremum of the velocities for the joints :rtype:
Q:return: Joint extremum velocities
- isNull()
checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null
check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.
- setTarget(qstart, qend)
Specifies from and to where a ramp should be generated. :type qstart:
Q:param qstart: [in] The start configuration :type qend:Q:param qend: [in] The end configuration
- property thisown
The membership flag
- x(t)
Returns the configuration for time t
If t<0 or t>duration() it returns the start and end configurations respectively.
- Parameters
t (float) – [in] time
- Return type
Q- Returns
Configuration at time t
- sdurw_control.sdurw_control.ownedPtr(*args)
Overload 1:
A Ptr that takes ownership over a raw pointer ptr.
Overload 2:
A Ptr that takes ownership over a raw pointer ptr.
Overload 3:
A Ptr that takes ownership over a raw pointer ptr.
Overload 4:
A Ptr that takes ownership over a raw pointer ptr.
Overload 5:
A Ptr that takes ownership over a raw pointer ptr.
Overload 6:
A Ptr that takes ownership over a raw pointer ptr.
Overload 7:
A Ptr that takes ownership over a raw pointer ptr.
Overload 8:
A Ptr that takes ownership over a raw pointer ptr.
Overload 9:
A Ptr that takes ownership over a raw pointer ptr.
Overload 10:
A Ptr that takes ownership over a raw pointer ptr.
Overload 11:
A Ptr that takes ownership over a raw pointer ptr.
Overload 12:
A Ptr that takes ownership over a raw pointer ptr.
Overload 13:
A Ptr that takes ownership over a raw pointer ptr.
Overload 14:
A Ptr that takes ownership over a raw pointer ptr.
Overload 15:
A Ptr that takes ownership over a raw pointer ptr.
Overload 16:
A Ptr that takes ownership over a raw pointer ptr.
Overload 17:
A Ptr that takes ownership over a raw pointer ptr.
Overload 18:
A Ptr that takes ownership over a raw pointer ptr.
Overload 19:
A Ptr that takes ownership over a raw pointer ptr.
Overload 20:
A Ptr that takes ownership over a raw pointer ptr.
Overload 21:
A Ptr that takes ownership over a raw pointer ptr.
Overload 22:
A Ptr that takes ownership over a raw pointer ptr.
Overload 23:
A Ptr that takes ownership over a raw pointer ptr.
Overload 24:
A Ptr that takes ownership over a raw pointer ptr.
Overload 25:
A Ptr that takes ownership over a raw pointer ptr.
Overload 26:
A Ptr that takes ownership over a raw pointer ptr.
Overload 27:
A Ptr that takes ownership over a raw pointer ptr.
Overload 28:
A Ptr that takes ownership over a raw pointer ptr.
Overload 29:
A Ptr that takes ownership over a raw pointer ptr.
Overload 30:
A Ptr that takes ownership over a raw pointer ptr.
Overload 31:
A Ptr that takes ownership over a raw pointer ptr.
Overload 32:
A Ptr that takes ownership over a raw pointer ptr.
Overload 33:
A Ptr that takes ownership over a raw pointer ptr.
Overload 34:
A Ptr that takes ownership over a raw pointer ptr.
Overload 35:
A Ptr that takes ownership over a raw pointer ptr.
Overload 36:
A Ptr that takes ownership over a raw pointer ptr.
Overload 37:
A Ptr that takes ownership over a raw pointer ptr.
Overload 38:
A Ptr that takes ownership over a raw pointer ptr.
Overload 39:
A Ptr that takes ownership over a raw pointer ptr.
Overload 40:
A Ptr that takes ownership over a raw pointer ptr.
Overload 41:
A Ptr that takes ownership over a raw pointer ptr.
Overload 42:
A Ptr that takes ownership over a raw pointer ptr.
Overload 43:
A Ptr that takes ownership over a raw pointer ptr.
Overload 44:
A Ptr that takes ownership over a raw pointer ptr.
Overload 45:
A Ptr that takes ownership over a raw pointer ptr.
Overload 46:
A Ptr that takes ownership over a raw pointer ptr.
Overload 47:
A Ptr that takes ownership over a raw pointer ptr.
Overload 48:
A Ptr that takes ownership over a raw pointer ptr.
Overload 49:
A Ptr that takes ownership over a raw pointer ptr.
Overload 50:
A Ptr that takes ownership over a raw pointer ptr.
Overload 51:
A Ptr that takes ownership over a raw pointer ptr.
Overload 52:
A Ptr that takes ownership over a raw pointer ptr.
Overload 53:
A Ptr that takes ownership over a raw pointer ptr.
Overload 54:
A Ptr that takes ownership over a raw pointer ptr.
Overload 55:
A Ptr that takes ownership over a raw pointer ptr.
Overload 56:
A Ptr that takes ownership over a raw pointer ptr.
Overload 57:
A Ptr that takes ownership over a raw pointer ptr.
Overload 58:
A Ptr that takes ownership over a raw pointer ptr.
Overload 59:
A Ptr that takes ownership over a raw pointer ptr.
Overload 60:
A Ptr that takes ownership over a raw pointer ptr.
Overload 61:
A Ptr that takes ownership over a raw pointer ptr.
Overload 62:
A Ptr that takes ownership over a raw pointer ptr.
Overload 63:
A Ptr that takes ownership over a raw pointer ptr.
Overload 64:
A Ptr that takes ownership over a raw pointer ptr.
Overload 65:
A Ptr that takes ownership over a raw pointer ptr.
Overload 66:
A Ptr that takes ownership over a raw pointer ptr.
Overload 67:
A Ptr that takes ownership over a raw pointer ptr.
Overload 68:
A Ptr that takes ownership over a raw pointer ptr.
Overload 69:
A Ptr that takes ownership over a raw pointer ptr.
Overload 70:
A Ptr that takes ownership over a raw pointer ptr.
Overload 71:
A Ptr that takes ownership over a raw pointer ptr.
Overload 72:
A Ptr that takes ownership over a raw pointer ptr.
Overload 73:
A Ptr that takes ownership over a raw pointer ptr.
Overload 74:
A Ptr that takes ownership over a raw pointer ptr.
Overload 75:
A Ptr that takes ownership over a raw pointer ptr.
Overload 76:
A Ptr that takes ownership over a raw pointer ptr.
Overload 77:
A Ptr that takes ownership over a raw pointer ptr.
Overload 78:
A Ptr that takes ownership over a raw pointer ptr.
Overload 79:
A Ptr that takes ownership over a raw pointer ptr.
Overload 80:
A Ptr that takes ownership over a raw pointer ptr.
Overload 81:
A Ptr that takes ownership over a raw pointer ptr.
Overload 82:
A Ptr that takes ownership over a raw pointer ptr.
Overload 83:
A Ptr that takes ownership over a raw pointer ptr.
Overload 84:
A Ptr that takes ownership over a raw pointer ptr.
Overload 85:
A Ptr that takes ownership over a raw pointer ptr.
Overload 86:
A Ptr that takes ownership over a raw pointer ptr.
Overload 87:
A Ptr that takes ownership over a raw pointer ptr.
Overload 88:
A Ptr that takes ownership over a raw pointer ptr.
Overload 89:
A Ptr that takes ownership over a raw pointer ptr.
Overload 90:
A Ptr that takes ownership over a raw pointer ptr.
Overload 91:
A Ptr that takes ownership over a raw pointer ptr.
Overload 92:
A Ptr that takes ownership over a raw pointer ptr.
Overload 93:
A Ptr that takes ownership over a raw pointer ptr.
Overload 94:
A Ptr that takes ownership over a raw pointer ptr.
Overload 95:
A Ptr that takes ownership over a raw pointer ptr.
Overload 96:
A Ptr that takes ownership over a raw pointer ptr.
Overload 97:
A Ptr that takes ownership over a raw pointer ptr.
Overload 98:
A Ptr that takes ownership over a raw pointer ptr.
Overload 99:
A Ptr that takes ownership over a raw pointer ptr.
Overload 100:
A Ptr that takes ownership over a raw pointer ptr.
Overload 101:
A Ptr that takes ownership over a raw pointer ptr.
Overload 102:
A Ptr that takes ownership over a raw pointer ptr.
Overload 103:
A Ptr that takes ownership over a raw pointer ptr.
Overload 104:
A Ptr that takes ownership over a raw pointer ptr.
Overload 105:
A Ptr that takes ownership over a raw pointer ptr.
Overload 106:
A Ptr that takes ownership over a raw pointer ptr.
Overload 107:
A Ptr that takes ownership over a raw pointer ptr.
Overload 108:
A Ptr that takes ownership over a raw pointer ptr.
Overload 109:
A Ptr that takes ownership over a raw pointer ptr.
Overload 110:
A Ptr that takes ownership over a raw pointer ptr.
Overload 111:
A Ptr that takes ownership over a raw pointer ptr.
Overload 112:
A Ptr that takes ownership over a raw pointer ptr.
Overload 113:
A Ptr that takes ownership over a raw pointer ptr.
Overload 114:
A Ptr that takes ownership over a raw pointer ptr.
Overload 115:
A Ptr that takes ownership over a raw pointer ptr.
Overload 116:
A Ptr that takes ownership over a raw pointer ptr.
Overload 117:
A Ptr that takes ownership over a raw pointer ptr.
Overload 118:
A Ptr that takes ownership over a raw pointer ptr.
Overload 119:
A Ptr that takes ownership over a raw pointer ptr.
Overload 120:
A Ptr that takes ownership over a raw pointer ptr.
Overload 121:
A Ptr that takes ownership over a raw pointer ptr.
Overload 122:
A Ptr that takes ownership over a raw pointer ptr.
Overload 123:
A Ptr that takes ownership over a raw pointer ptr.
Overload 124:
A Ptr that takes ownership over a raw pointer ptr.
Overload 125:
A Ptr that takes ownership over a raw pointer ptr.
Overload 126:
A Ptr that takes ownership over a raw pointer ptr.
Overload 127:
A Ptr that takes ownership over a raw pointer ptr.
Overload 128:
A Ptr that takes ownership over a raw pointer ptr.
Overload 129:
A Ptr that takes ownership over a raw pointer ptr.
Overload 130:
A Ptr that takes ownership over a raw pointer ptr.
Overload 131:
A Ptr that takes ownership over a raw pointer ptr.
Overload 132:
A Ptr that takes ownership over a raw pointer ptr.
Overload 133:
A Ptr that takes ownership over a raw pointer ptr.
Overload 134:
A Ptr that takes ownership over a raw pointer ptr.
Overload 135:
A Ptr that takes ownership over a raw pointer ptr.
Overload 136:
A Ptr that takes ownership over a raw pointer ptr.
Overload 137:
A Ptr that takes ownership over a raw pointer ptr.
Overload 138:
A Ptr that takes ownership over a raw pointer ptr.
Overload 139:
A Ptr that takes ownership over a raw pointer ptr.
Overload 140:
A Ptr that takes ownership over a raw pointer ptr.
Overload 141:
A Ptr that takes ownership over a raw pointer ptr.
Overload 142:
A Ptr that takes ownership over a raw pointer ptr.
Overload 143:
A Ptr that takes ownership over a raw pointer ptr.
Overload 144:
A Ptr that takes ownership over a raw pointer ptr.
Overload 145:
A Ptr that takes ownership over a raw pointer ptr.
Overload 146:
A Ptr that takes ownership over a raw pointer ptr.
Overload 147:
A Ptr that takes ownership over a raw pointer ptr.
Overload 148:
A Ptr that takes ownership over a raw pointer ptr.
Overload 149:
A Ptr that takes ownership over a raw pointer ptr.
Overload 150:
A Ptr that takes ownership over a raw pointer ptr.
Overload 151:
A Ptr that takes ownership over a raw pointer ptr.
Overload 152:
A Ptr that takes ownership over a raw pointer ptr.
Overload 153:
A Ptr that takes ownership over a raw pointer ptr.
Overload 154:
A Ptr that takes ownership over a raw pointer ptr.
Overload 155:
A Ptr that takes ownership over a raw pointer ptr.
Overload 156:
A Ptr that takes ownership over a raw pointer ptr.
Overload 157:
A Ptr that takes ownership over a raw pointer ptr.
Overload 158:
A Ptr that takes ownership over a raw pointer ptr.
Overload 159:
A Ptr that takes ownership over a raw pointer ptr.
Overload 160:
A Ptr that takes ownership over a raw pointer ptr.
Overload 161:
A Ptr that takes ownership over a raw pointer ptr.
Overload 162:
A Ptr that takes ownership over a raw pointer ptr.
Overload 163:
A Ptr that takes ownership over a raw pointer ptr.
Overload 164:
A Ptr that takes ownership over a raw pointer ptr.
Overload 165:
A Ptr that takes ownership over a raw pointer ptr.