softrobots.inverse.effectors

Template for effectors.

Content:

PositionEffector([attachedTo, name, …])	Creates and adds a position effector.
EffectorGoal([attachedTo, name, position, …])	Creates and adds a effector goal.

softrobots.inverse.effectors.PositionEffector(attachedTo=None, name='effector', position=None, effectorGoal=None, template='Vec3d', directions=None, useDirections=None, translation=[0.0, 0.0, 0.0], rotation=[0.0, 0.0, 0.0], uniformScale=1.0)

Creates and adds a position effector. Should be used in the context of the resolution of an inverse problem: find the actuation that leads to a desired position of the effector. See documentation at: https://project.inria.fr/softrobot/documentation/constraint/position-effector/

The constraint apply to a parent mesh.

Args:

name (str): Name of the created effector.

position: Location of the degree of freedom of the effector.

effectorGoal: Location of the effector target

template:

translation (vec3f): Apply a 3D translation to the object.

rotation (vec3f): Apply a 3D rotation to the object in Euler angles.

uniformScale (vec3f): Apply an uniform scaling to the object.

Structure:

Node : {
        name : "effector"
        MechanicalObject,
        PositionEffector,
        BarycentricMapping or RigidMapping
}

softrobots.inverse.effectors.EffectorGoal(attachedTo=None, name='Goal', position=None, template='Vec3d', translation=[0.0, 0.0, 0.0], rotation=[0.0, 0.0, 0.0], uniformScale=1.0, visuScale=0.1)

Creates and adds a effector goal. Should be used in the context of the resolution of an inverse problem: find the actuation that leads to the given desired position. See examples in SoftRobots/docs/tutorials

Args:

name (str): Name of the effector goal.

position: Location of the target position(s) of the effector(s).

template:

translation (vec3f): Apply a 3D translation to the object.

rotation (vec3f): Apply a 3D rotation to the object in Euler angles.

uniformScale (vec3f): Apply an uniform scaling to the object.

Structure:

Node : {
        name : "Goal"
        EulerImplicit,
        CGLinearSolver,
        MechanicalObject
}