models.rigid.poe¶

Serial chains by the product of exponentials, with all geometry as Params.

Module Attributes

`COORDINATES`	How many entries of q each joint type owns (a floating joint has 6 velocities).

Functions

`chain_space`(joints)	The space of a chain: its joints in order, a floating one as a translation and a unit quaternion, the others as plain numbers.

Classes

`SerialChain`(joints, axes, points, sites)	Serial chain of joints, as a product of exponentials.