:py:mod:`rofunc.utils.robolab.kinematics.fk_new_config`
=======================================================

.. py:module:: rofunc.utils.robolab.kinematics.fk_new_config

.. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config
   :allowtitles:

Module Contents
---------------

Functions
~~~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`transform_torsoendtoarmbase <rofunc.utils.robolab.kinematics.fk_new_config.transform_torsoendtoarmbase>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_torsoendtoarmbase
          :summary:
   * - :py:obj:`transform_torsobasetotorsoend <rofunc.utils.robolab.kinematics.fk_new_config.transform_torsobasetotorsoend>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_torsobasetotorsoend
          :summary:
   * - :py:obj:`transform_mobilebasetoarmbase <rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmbase>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmbase
          :summary:
   * - :py:obj:`transform_armbasetoarmend <rofunc.utils.robolab.kinematics.fk_new_config.transform_armbasetoarmend>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_armbasetoarmend
          :summary:
   * - :py:obj:`transform_mobilebasetoarmend <rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmend>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmend
          :summary:
   * - :py:obj:`transform_worldbasetomobilebase <rofunc.utils.robolab.kinematics.fk_new_config.transform_worldbasetomobilebase>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_worldbasetomobilebase
          :summary:
   * - :py:obj:`transform_optitrackbasetomobilebase <rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetomobilebase>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetomobilebase
          :summary:
   * - :py:obj:`transform_optitrackbasetoarmend <rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetoarmend>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetoarmend
          :summary:

Data
~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`L <rofunc.utils.robolab.kinematics.fk_new_config.L>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.L
          :summary:
   * - :py:obj:`d <rofunc.utils.robolab.kinematics.fk_new_config.d>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.d
          :summary:

API
~~~

.. py:data:: L
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.L
   :value: 0.25

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.L

.. py:data:: d
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.d
   :value: 0.215

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.d

.. py:function:: transform_torsoendtoarmbase(data, D)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_torsoendtoarmbase

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_torsoendtoarmbase

.. py:function:: transform_torsobasetotorsoend(theta)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_torsobasetotorsoend

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_torsobasetotorsoend

.. py:function:: transform_mobilebasetoarmbase(torso_joint)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmbase

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmbase

.. py:function:: transform_armbasetoarmend(arm_joint)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_armbasetoarmend

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_armbasetoarmend

.. py:function:: transform_mobilebasetoarmend(torso_joint, arm_joint_left, arm_joint_right)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmend

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_mobilebasetoarmend

.. py:function:: transform_worldbasetomobilebase(data)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_worldbasetomobilebase

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_worldbasetomobilebase

.. py:function:: transform_optitrackbasetomobilebase()
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetomobilebase

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetomobilebase

.. py:function:: transform_optitrackbasetoarmend(torso_joint, arm_joint_left, arm_joint_right)
   :canonical: rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetoarmend

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.fk_new_config.transform_optitrackbasetoarmend