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zonopyrobots.kinematics.forward_kinematics

zonopyrobots.kinematics.forward_kinematics#

zonopyrobots.kinematics.forward_kinematics(rotatotopes: Dict[str, MPZType | BMPZType] | List[MPZType | BMPZType], robot: ZonoArmRobot, zono_order: int = 20, links: List[str] = None) → OrderedDictType[str, Tuple[PZType, MPZType] | Tuple[BPZType, BMPZType]][source]#

Computes the forward kinematics of a robot.

Parameters:

  • rotatotopes (Union[Dict[str, Union[MPZType, BMPZType]], List[Union[MPZType, BMPZType]]]) – The rotatotopes.

  • robot (ZonoArmRobot) – The robot.

  • zono_order (int, optional) – The zonotope order. Defaults to 20.

  • links (List[str], optional) – The links. Defaults to None.

Returns:

The forward kinematics.

Return type:

OrderedDictType[str, Union[Tuple[PZType, MPZType], Tuple[BPZType, BMPZType]]]

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