adam.model.abc_factories

Contents

adam.model.abc_factories#

Classes#

`Pose`	Pose class
`Inertia`
`Limits`	Limits class
`Joint`	Base Joint class. You need to fill at least these fields
`Inertial`	Inertial description
`Link`	Base Link class. You need to fill at least these fields
`ModelFactory`	The abstract class of the model factory.

Module Contents#

class adam.model.abc_factories.Pose[source]#

Pose class

xyz: numpy.typing.ArrayLike[source]#

rpy: numpy.typing.ArrayLike[source]#

static build(xyz: numpy.typing.ArrayLike, rpy: numpy.typing.ArrayLike, math: adam.core.spatial_math.SpatialMath) → Pose[source]#

static zero(math: adam.core.spatial_math.SpatialMath) → Pose[source]#

get_xyz() → numpy.typing.ArrayLike[source]#

get_rpy() → numpy.typing.ArrayLike[source]#

class adam.model.abc_factories.Inertia[source]#

matrix: numpy.typing.ArrayLike[source]#

ixx: numpy.typing.DTypeLike[source]#

ixy: numpy.typing.DTypeLike[source]#

ixz: numpy.typing.DTypeLike[source]#

iyy: numpy.typing.DTypeLike[source]#

iyz: numpy.typing.DTypeLike[source]#

izz: numpy.typing.DTypeLike[source]#

static build(ixx: numpy.typing.DTypeLike, ixy: numpy.typing.DTypeLike, ixz: numpy.typing.DTypeLike, iyy: numpy.typing.DTypeLike, iyz: numpy.typing.DTypeLike, izz: numpy.typing.DTypeLike, math: adam.core.spatial_math.SpatialMath) → Inertia[source]#

static zero(math: adam.core.spatial_math.SpatialMath) → Inertia[source]#

get_matrix() → numpy.typing.ArrayLike[source]#

class adam.model.abc_factories.Limits[source]#

Limits class

lower: numpy.typing.ArrayLike[source]#

upper: numpy.typing.ArrayLike[source]#

effort: numpy.typing.ArrayLike[source]#

velocity: numpy.typing.ArrayLike[source]#

class adam.model.abc_factories.Joint[source]#

Bases: abc.ABC

Base Joint class. You need to fill at least these fields

math: adam.core.spatial_math.SpatialMath[source]#

name: str[source]#

parent: str[source]#

child: str[source]#

type: str[source]#

axis: numpy.typing.ArrayLike[source]#

origin: Pose[source]#

limit: Limits[source]#

idx: int[source]#: Abstract base class for all joints.

abstractmethod spatial_transform(q: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#

Parameters:: q (npt.ArrayLike) – joint motion
Returns:: spatial transform of the joint given q
Return type:: npt.ArrayLike

abstractmethod motion_subspace() → numpy.typing.ArrayLike[source]#

Returns:: motion subspace of the joint
Return type:: npt.ArrayLike

abstractmethod homogeneous(q: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#

Parameters:: q (npt.ArrayLike) – joint value
Returns:: homogeneous transform given the joint value
Return type:: npt.ArrayLike

class adam.model.abc_factories.Inertial[source]#

Inertial description

mass: numpy.typing.DTypeLike[source]#

inertia: Inertia[source]#

origin: Pose[source]#

static zero(math: adam.core.spatial_math.SpatialMath) → Inertial[source]#: Returns an Inertial object with zero mass and inertia

set_mass(mass: numpy.typing.ArrayLike) → Inertial[source]#: Set the mass of the inertial object

set_inertia(inertia: Inertia) → Inertial[source]#: Set the inertia of the inertial object

set_origin(origin: Pose) → Inertial[source]#: Set the origin of the inertial object

class adam.model.abc_factories.Link[source]#

Bases: abc.ABC

Base Link class. You need to fill at least these fields

math: adam.core.spatial_math.SpatialMath[source]#

name: str[source]#

visuals: list[source]#

inertial: Inertial[source]#

collisions: list[source]#

abstractmethod spatial_inertia() → numpy.typing.ArrayLike[source]#

Returns:

the 6x6 inertia matrix expressed at: the origin of the link (with rotation)

Return type:

npt.ArrayLike

abstractmethod homogeneous() → numpy.typing.ArrayLike[source]#

Returns:: the homogeneous transform of the link
Return type:: npt.ArrayLike

class adam.model.abc_factories.ModelFactory[source]#

Bases: abc.ABC

The abstract class of the model factory.

The model factory is responsible for creating the model.

You need to implement all the methods in your concrete implementation

math: adam.core.spatial_math.SpatialMath[source]#

name: str[source]#

abstractmethod build_link() → Link[source]#: build the single link :returns: Link

abstractmethod build_joint() → Joint[source]#

build the single joint

Returns:: Joint

abstractmethod get_links() → list[Link][source]#

Returns:: the list of the link
Return type:: list[Link]

abstractmethod get_frames() → list[Link][source]#

Returns:: the list of the frames
Return type:: list[Link]

abstractmethod get_joints() → list[Joint][source]#

Returns:: the list of the joints
Return type:: list[Joint]