Open cmower opened 1 year ago
Some notes
rpy
from the URDF, the way to convert this to a spatial_casadi.Rotation
is to use spatial_casadi.Rotation.from_euler("XYZ", rpy)
spatial-casadi
to setup.py
as a dependencyget
methods referring to Jacobian arrays to return either casadi.DM, casadi.SX, numpy.ndarray
. Better to return a Jacobian
object (this would need implementing). This could be designed similar to spatial casadi and have some sort of structure as follows
class Jacobian:
def linear(self):
pass # returns linear part of jacobain
def angular(self, type):
pass # returns angular part of jacobian (given the type)
def geometric(self):
pass # returns geometric jacobian
def analytic(self, seq):
pass # returns analytic jacobian with given sequence for angular part
Let's consider removing spatialmath.py and replace it's functionality by using spatial-casadi.