Rational Linkages API
- Rational Linkages
- Backend Utilities
- AffineMetric
- CollisionFreeOptimization
- Dual Quaternion
DualQuaternionDualQuaternion.from_two_quaternions()DualQuaternion.random()DualQuaternion.random_on_study_quadric()DualQuaternion.random_integers()DualQuaternion.as_rational()DualQuaternion.from_bq_biquaternion()DualQuaternion.from_bq_poly()DualQuaternion.realDualQuaternion.imagDualQuaternion.coordinatesDualQuaternion.array()DualQuaternion.conjugate()DualQuaternion.eps_conjugate()DualQuaternion.norm()DualQuaternion.normalize()DualQuaternion.inv()DualQuaternion.back_projection()DualQuaternion.extended_dot()DualQuaternion.is_on_study_quadric()DualQuaternion.study_condition()DualQuaternion.dq2matrix()DualQuaternion.dq2point()DualQuaternion.dq2point_homogeneous()DualQuaternion.dq2point_via_matrix()DualQuaternion.dq2line_vectors()DualQuaternion.dq2screw()DualQuaternion.dq2point_via_line()DualQuaternion.as_12d_vector()DualQuaternion.eval()DualQuaternion.evalf()DualQuaternion.act()
- Dual Quaternion Symbolic
DualQuaternionSymbolicDualQuaternionSymbolic.random()DualQuaternionSymbolic.random_on_study_quadric()DualQuaternionSymbolic.array()DualQuaternionSymbolic.norm()DualQuaternionSymbolic.normalize()DualQuaternionSymbolic.inv()DualQuaternionSymbolic.conjugate()DualQuaternionSymbolic.eps_conjugate()DualQuaternionSymbolic.extended_dot()DualQuaternionSymbolic.is_on_study_quadric()DualQuaternionSymbolic.study_condition()DualQuaternionSymbolic.back_projection()DualQuaternionSymbolic.dq2matrix()DualQuaternionSymbolic.eval()DualQuaternionSymbolic.evalf()
- Dual Quaternion Action
- Exudyn Analysis
- Factorization Provider
- Linkage
- MiniBall
- Motion Approximation
- Motion Designer
MotionDesignerMotionDesignerWidgetMotionDesignerWidget.set_sliders_for_point()MotionDesignerWidget.on_synthesize_button_clicked()MotionDesignerWidget.on_point_selection_changed()MotionDesignerWidget.on_slider_value_changed()MotionDesignerWidget.on_lambda_slider_value_changed()MotionDesignerWidget.on_swap_family_check_box_changed()MotionDesignerWidget.on_lambda_textbox_changed()MotionDesignerWidget.on_textbox_changed()MotionDesignerWidget.update_curve_vis()MotionDesignerWidget.closeEvent()MotionDesignerWidget.add_mesh()MotionDesignerWidget.remove_mesh()MotionDesignerWidget.clear_meshes()
- Motion Factorization
MotionFactorizationMotionFactorization.linkageMotionFactorization.get_polynomials_from_factorization()MotionFactorization.get_symbolic_factors()MotionFactorization.get_numerical_factors()MotionFactorization.act()MotionFactorization.direct_kinematics()MotionFactorization.direct_kinematics_of_tool()MotionFactorization.direct_kinematics_of_tool_with_link()MotionFactorization.joint_angle_to_t_param()MotionFactorization.t_param_to_joint_angle()MotionFactorization.factorize()MotionFactorization.get_joint_connection_points()MotionFactorization.set_joint_connection_points()MotionFactorization.set_joint_connection_points_by_parameters()MotionFactorization.joint()MotionFactorization.link()MotionFactorization.base_link()MotionFactorization.tool_link()
- Motion Interpolation
MotionInterpolationMotionInterpolation.interpolate()MotionInterpolation.interpolate_quadratic()MotionInterpolation.interpolate_quadratic_numerically()MotionInterpolation.interpolate_quadratic_2_poses()MotionInterpolation.interpolate_quadratic_2_poses_random()MotionInterpolation.interpolate_quadratic_2_poses_optimized()MotionInterpolation.interpolate_cubic()MotionInterpolation.interpolate_cubic_numerically()MotionInterpolation.lagrange_interpolation_numerically()MotionInterpolation.interpolate_points_quadratic()MotionInterpolation.interpolate_points_cubic()
- Normalized Line
NormalizedLineNormalizedLine.from_two_points()NormalizedLine.from_direction_and_point()NormalizedLine.from_direction_and_moment()NormalizedLine.from_dual_quaternion()NormalizedLine.coordinatesNormalizedLine.array()NormalizedLine.line2dq_array()NormalizedLine.point_on_line()NormalizedLine.point_homogeneous()NormalizedLine.get_point_param()NormalizedLine.contains_point()NormalizedLine.common_perpendicular_to_other_line()NormalizedLine.intersection_with_plane()NormalizedLine.eval()NormalizedLine.evaluate()NormalizedLine.evalf()NormalizedLine.get_plot_data()
- Normalized Line Symbolic
NormalizedLineSymbolicNormalizedLineSymbolic.from_direction_and_point()NormalizedLineSymbolic.from_direction_and_moment()NormalizedLineSymbolic.from_two_points()NormalizedLineSymbolic.array()NormalizedLineSymbolic.line2dq_array()NormalizedLineSymbolic.contains_point()NormalizedLineSymbolic.common_perpendicular_to_other_line()NormalizedLineSymbolic.eval()NormalizedLineSymbolic.evaluate()NormalizedLineSymbolic.evalf()
- Normalized Plane
NormalizedPlaneNormalizedPlane.from_two_points_as_bisector()NormalizedPlane.from_three_points()NormalizedPlane.from_line_and_point()NormalizedPlane.reflection_matrixNormalizedPlane.reflection_trNormalizedPlane.array()NormalizedPlane.plane2dq_array()NormalizedPlane.intersection_with_plane()NormalizedPlane.intersection_with_line()NormalizedPlane.get_plot_data()
- Normalized Plane Symbolic
- Plotter
- PlotterMatplotlib
PlotterMatplotlibPlotterMatplotlib.plot()PlotterMatplotlib.analyze_object()PlotterMatplotlib.plot_axis_between_two_points()PlotterMatplotlib.plot_line_segments_between_points()PlotterMatplotlib.plot_plane()PlotterMatplotlib.plot_connecting_points_update()PlotterMatplotlib.plot_slider_update()PlotterMatplotlib.show()PlotterMatplotlib.update_limits()PlotterMatplotlib.animate()PlotterMatplotlib.animate_angles()PlotterMatplotlib.save_image()PlotterMatplotlib.trigger_controls_visibility()
- PlotterPyqtgraph
PlotterPyqtgraphFramePlotHelperInteractivePlotterWidgetInteractivePlotterWidget.create_float_slider()InteractivePlotterWidget.on_move_slider_changed()InteractivePlotterWidget.on_angle_text_entered()InteractivePlotterWidget.on_param_text_entered()InteractivePlotterWidget.on_save_save_mech_pkl()InteractivePlotterWidget.on_save_figure_box()InteractivePlotterWidget.on_joint_slider_changed()InteractivePlotterWidget.plot_slider_update()
InteractivePlotter
- Point Homogeneous
PointHomogeneousPointHomogeneous.at_origin_in_2d()PointHomogeneous.from_3d_point()PointHomogeneous.from_dual_quaternion()PointHomogeneous.is_at_infinityPointHomogeneous.xPointHomogeneous.yPointHomogeneous.zPointHomogeneous.array()PointHomogeneous.norm()PointHomogeneous.normalize()PointHomogeneous.normalized_euclidean()PointHomogeneous.normalized_in_3d()PointHomogeneous.point2matrix()PointHomogeneous.point2dq_array()PointHomogeneous.point2affine12d()PointHomogeneous.linear_interpolation()PointHomogeneous.get_plot_data()PointHomogeneous.evalf()PointHomogeneous.evalf_euclidean()PointHomogeneous.eval()PointHomogeneous.evaluate()
PointOrbit
- Point Homogeneous Symbolic
- Quaternion
- Quaternion Symbolic
- Rational Bezier
- Rational Curve
RationalCurveRationalCurve.coeffs_inversedRationalCurve.metricRationalCurve.symbolicRationalCurve.symbolic_inversedRationalCurve.set_of_polynomials_inversedRationalCurve.coeffsRationalCurve.from_coeffs()RationalCurve.from_two_quaternions()RationalCurve.get_symbolic_expressions()RationalCurve.get_coeffs()RationalCurve.curve2bezier_control_points()RationalCurve.get_bernstein_polynomial_equations()RationalCurve.inverse_coeffs()RationalCurve.inverse_curve()RationalCurve.curve()RationalCurve.extract_expressions()RationalCurve.evaluate()RationalCurve.evaluate_as_matrix()RationalCurve.factorize()RationalCurve.get_plot_data()RationalCurve.get_curve_in_pr12()RationalCurve.split_in_beziers()RationalCurve.get_path_length()RationalCurve.split_in_equal_segments()RationalCurve.study_quadric_check()RationalCurve.is_on_study_quadric()
- Rational Mechanism
RationalMechanismRationalMechanism.segmentsRationalMechanism.metricRationalMechanism.linear_motions_cycleRationalMechanism.from_saved_file()RationalMechanism.save()RationalMechanism.get_design()RationalMechanism.get_segment_connections()RationalMechanism.get_dh_params()RationalMechanism.get_frames()RationalMechanism.get_global_frames()RationalMechanism.get_screw_axes()RationalMechanism.map_connection_params()RationalMechanism.collision_check()RationalMechanism.colliding_lines()RationalMechanism.get_intersection_points()RationalMechanism.get_motion_curve()RationalMechanism.singularity_check()RationalMechanism.smallest_polyline()RationalMechanism.collision_free_optimization()RationalMechanism.points_at_parameter()RationalMechanism.forward_kinematics()RationalMechanism.direct_kinematics()RationalMechanism.inverse_kinematics()RationalMechanism.traj_p2p_joint_space()RationalMechanism.traj_smooth_tool()RationalMechanism.update_metric()RationalMechanism.update_segments()RationalMechanism.relative_motion()RationalMechanism.get_design_points()RationalMechanism.export_single_mesh()RationalMechanism.export_single_solid()RationalMechanism.export_solids()
- Static Mechanism
- Transformation Matrix
TransfMatrixTransfMatrix.from_standard()TransfMatrix.from_rpy()TransfMatrix.from_rpy_xyz()TransfMatrix.from_vectors()TransfMatrix.from_dh_parameters()TransfMatrix.from_rotation()TransfMatrix.nTransfMatrix.oTransfMatrix.aTransfMatrix.tTransfMatrix.array()TransfMatrix.rot_matrix()TransfMatrix.is_rotation()TransfMatrix.inv()TransfMatrix.to_standard()TransfMatrix.matrix2dq()TransfMatrix.rpy()TransfMatrix.dh_to_other_frame()TransfMatrix.get_plot_data()
- Transformation Matrix Symbolic
TransfMatrixSymbolicTransfMatrixSymbolic.from_standard()TransfMatrixSymbolic.from_rpy()TransfMatrixSymbolic.from_rpy_xyz()TransfMatrixSymbolic.from_vectors()TransfMatrixSymbolic.from_dh_parameters()TransfMatrixSymbolic.from_rotation()TransfMatrixSymbolic.nTransfMatrixSymbolic.oTransfMatrixSymbolic.aTransfMatrixSymbolic.tTransfMatrixSymbolic.pprint()TransfMatrixSymbolic.array()TransfMatrixSymbolic.rot_matrix()TransfMatrixSymbolic.is_rotation()TransfMatrixSymbolic.inv()TransfMatrixSymbolic.to_standard()TransfMatrixSymbolic.matrix2dq()TransfMatrixSymbolic.eval()
- Utilities (Python)
- Utilities (Rust)