vcKinematics

Kinematics behavior for defining the forward and inverse kinematics solver and usable kinematic frames.

See in: Overview

Module: vcRobotics2

Parent: vcBehavior

Children -

Referenced by: vcMotionController.Kinematics

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
ActiveBase	vcKinematicFrame	RW	Gets or sets the currently active base. Set is not possible while the simulation is running.
ActiveTool	vcKinematicFrame	RW	Gets or sets the currently active tool. Set is not possible while the simulation is running.
Bases	vcList	R	Gets a list of defined base frames.
FlangeFrame	vcKinematicFrame	R	Gets the Flange frame.
FlangeNode	vcNode	RW	Gets or sets the flange node, for e.g.the mountplate.
MainSolver	vcKinSolver	R	Gets a read-only main solver instance or None. Create a separate solver instance for own calculations.
RootFrame	vcKinematicFrame	R	Gets the Root frame.
RootNode	vcNode	RW	Gets or sets the root node, the base of the kinematic structure.
SolverType	String	RW	Gets or sets the type of the current solver by name. Setting this to a different type will delete the old Solver object and create a new one.
Tools	vcList	R	Gets a list of defined tool frames.
TrackWorldFrameMode	vcTrackMode	RW	Gets or sets the positioning mode for robot world frame when mounted on a track.
WorldFrame	vcKinematicFrame	R	Gets the World frame.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
clearBases	None	None	Deletes all base frames. Parameters: None Returns: None
clearTools	None	None	Deletes all tool frames. Parameters: None Returns: None
createBase	vcKinematicFrame	Optional Keyword[name = String]	Creates a new base frame. See more Parameters: Optional: name (str): Empty by default. Name for the base. Leave out or empty to generate a default name. Returns: vcKinematicFrame: The newly created base frame. Exceptions: ValueError: When given name is reserved.
createSolver	vcKinSolver	None	Creates a copy of the main solver. See more Parameters: None Returns: vcKinSolver: The newly created solver. Exceptions: RunTimeError: When solver initialization fails.
createTool	vcKinematicFrame	Optional Keyword[name = String]	Creates a new tool frame. See more Parameters: Optional: name (str): Empty by default. Name for the tool. Leave out or empty to generate a default name. Returns: vcKinematicFrame: The newly created tool frame. Exceptions: ValueError: When given name is reserved.
findBase	vcKinematicFrame	String name	Finds a base with the given name. See more Parameters: name (str): Name of a base. Returns: vcKinematicFrame | None: Found base frame or None.
findTool	vcKinematicFrame	String name	Finds a tool with the given name. See more Parameters: name (str): Name of a tool. Returns: vcKinematicFrame | None: Found tool frame or None.