From 47b497019a0bcedc2cd257ea8bd48942f2b616d5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 26 Jan 2019 15:28:59 +0900 Subject: [PATCH] add header comment in each scripts --- ArmNavigation/n_joint_arm_3d/NLinkArm.py | 4 ++++ ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py | 7 ++++++- ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py | 5 +++++ 3 files changed, 15 insertions(+), 1 deletion(-) diff --git a/ArmNavigation/n_joint_arm_3d/NLinkArm.py b/ArmNavigation/n_joint_arm_3d/NLinkArm.py index d0e32a05..da562d9f 100644 --- a/ArmNavigation/n_joint_arm_3d/NLinkArm.py +++ b/ArmNavigation/n_joint_arm_3d/NLinkArm.py @@ -1,3 +1,7 @@ +""" +Class of n-link arm in 3D +Author: Takayuki Murooka (takayuki5168) +""" import numpy as np import math from mpl_toolkits.mplot3d import Axes3D diff --git a/ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py b/ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py index e9479521..87907f80 100644 --- a/ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py +++ b/ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py @@ -1,3 +1,7 @@ +""" +Forward Kinematics for an n-link arm in 3D +Author: Takayuki Murooka (takayuki5168) +""" import math from NLinkArm import NLinkArm import random @@ -17,7 +21,8 @@ if __name__ == "__main__": [0., -math.pi/2, 0., .321], [0., math.pi/2, 0., 0.], [0., 0., 0., 0.]]) - + + # execute FK 10 times for i in range(10): n_link_arm.set_joint_angles([random_val(-1, 1) for j in range(len(n_link_arm.link_list))]) diff --git a/ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py b/ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py index dd513816..44be2270 100644 --- a/ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py +++ b/ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py @@ -1,3 +1,7 @@ +""" +Inverse Kinematics for an n-link arm in 3D +Author: Takayuki Murooka (takayuki5168) +""" import math from NLinkArm import NLinkArm import random @@ -18,6 +22,7 @@ if __name__ == "__main__": [0., math.pi/2, 0., 0.], [0., 0., 0., 0.]]) + # execute IK 10 times for i in range(10): n_link_arm.inverse_kinematics([random_val(-0.5, 0.5), random_val(-0.5, 0.5),