SensorKinematicTree

A sensor attached to a KinematicTree with local position \(\pLocB\) and link number \(n_l\). As a difference to SensorBody, the KinematicTree sensor needs a local position and a link number, which defines the sub-body at which the sensor values are evaluated. The local position is given in sub-body (link) local coordinates. The sensor measures OutputVariableKinematicTree and outputs values into a file, showing per line [time, sensorValue[0], sensorValue[1], …]. Use SensorUserFunction to modify sensor results (e.g., transforming to other coordinates) and writing to file.

The item SensorKinematicTree with type = ‘KinematicTree’ has the following parameters:

• name [type = String, default = ‘’]:

  sensor’s unique name
• objectNumber [type = ObjectIndex, default = invalid (-1)]:

  object number of KinematicTree to which sensor is attached to
• linkNumber [\(n_l\), type = UInt, default = invalid (-1)]:

  number of link in KinematicTree to measure quantities
• localPosition [\(\LU{l}{{\mathbf{b}}}\), type = Vector3D, size = 3, default = [0.,0.,0.]]:

  local (link-fixed) position of sensor, defined in link (\(n_l\)) coordinate system
• writeToFile [type = Bool, default = True]:

  True: write sensor output to file; flag is ignored (interpreted as False), if fileName=’’
• fileName [type = String, default = ‘’]:

  directory and file name for sensor file output; default: empty string generates sensor + sensorNumber + outputVariableType; directory will be created if it does not exist
• outputVariableType [type = OutputVariableType, default = OutputVariableType::_None]:

  OutputVariableType for sensor
• storeInternal [type = Bool, default = False]:

  true: store sensor data in memory (faster, but may consume large amounts of memory); false: internal storage not available
• visualization [type = VSensorKinematicTree]:

  parameters for visualization of item

The item VSensorKinematicTree has the following parameters:

• show [type = Bool, default = True]:

  set true, if item is shown in visualization and false if it is not shown

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DESCRIPTION of SensorKinematicTree

Relevant Examples and TestModels with weblink:

openAIgymNLinkContinuous.py (Examples/), reinforcementLearningRobot.py (Examples/), serialRobotInverseKinematics.py (Examples/), serialRobotKinematicTreeDigging.py (Examples/), stiffFlyballGovernorKT.py (Examples/), kinematicTreeAndMBStest.py (TestModels/), kinematicTreeConstraintTest.py (TestModels/)

The web version may not be complete. For details, consider also the Exudyn PDF documentation : theDoc.pdf