ArmSim

Robotic arm object modelling class

#Creates virtual model of robotic arm based on input characteristics given #User to Instantiate this class for making arm models #constructs arm using link() objects #Functions:

*models arm parameters

*performs forward kinematics

*displays arm graphically using matplotlib

#User Callable methods:

+ Forward Kinematics:

* get_end_pos()

* get_arm_pos()

* display_arm(prt_label = )

+ Inverse Kinematics

* hill_climb([], start=[])

* plot_trajectory([<start_pos>], [<end_pos>], display=)

* plot_path([[coordinates]...] , display=)

+ Getters and setters

* get_DOF()

* home() << sets arms angles to home angles

* get_angles()

* get_global_offset()

* set_global_offset([])

* get_work_area()

* set_work_area([<-x, +x, -y, +y>])

* get_display_limits()

* set_display_limits(<'x' or 'y' or 'z'>, [<upper, lower limit>])

* get_name()

* set_name()

* get_path_res()

* set_path_res()

* set_step_size([]) << for hill climbing (inverse kinematics)

* get_step_size() << for hill climbing (inverse kinematics)

* set_err_radius() << for hill climbing (inverse kinematics)

* get_err_radius() << for hill climbing (inverse kinematics)

* set_itr_limit() << for hill climbing (inverse kinematics)

* get_itr_limit() << for hill climbing (inverse kinematics)