director.splinewidget module¶

class director.splinewidget.SplineEndEffectorPlanner(handFactory, robotModel, view)[source]¶

Bases: object

computeHandleParameterization()[source]¶: Returns the list of handle parameterized coordinates. A coordinate is a value between 0.0 and 1.0, with 0.0 being the start and 1.0 being the end. Handles are parameterized by distance along the spline where distance is computed as the straight line distance between two handle points.

computeIkPostures(samples, constraintSet)[source]¶

createSplineInterpolationMethod(palmFrame, goalFrame)[source]¶

getHandlePoints()[source]¶: Returns a list of xyz points that are the handle points.

static getPalmFrame(robotModel, side)[source]¶

static getReachGoalFrame(side)[source]¶

getSplineSegmentSamples()[source]¶

getSplineWidget()[source]¶: Returns the vtkSplineWidget2 object

hide()[source]¶

interpolateReach()[source]¶

makeSplineGraspConstraints(ikPlanner, positionTolerance=0.03, angleToleranceInDegrees=15)[source]¶

newSpline(handObj, side)[source]¶

onWidgetInteractionEvent(o, e)[source]¶

setHandlePoints(handlePoints)[source]¶: Set the spline handle points, given a list of xyz points.

show()[source]¶

showHandSamples(numberOfSamples=15)[source]¶

updateSplineWidget(frame)[source]¶

director.splinewidget.init(view, handFactory, robotModel)[source]¶