Karana.KUtils.MultibodyTUI.swing

Karana.KUtils.MultibodyTUI.swing#

Attributes#

SwingModeOptions

Classes#

SwingConfig

SwingConfigMenuTUI

The top-level menu for configuring swing settings

SwingModeTUI

Base class for terminal user interfaces

AmplitudeDialog

Base class for a user text input TUI

StepSizeDialog

Base class for a user text input TUI

DeltaTDialog

Base class for a user text input TUI

KinMotion

SwingManager

Module Contents#

Karana.KUtils.MultibodyTUI.swing.SwingModeOptions#
class Karana.KUtils.MultibodyTUI.swing.SwingConfig[source]#
mode: SwingModeOptions = 'udot_pulse'#
amplitude: float = 0.4#
step_size: float = 0.1#
deltaT: float = 6.0#
render: bool = False#
class Karana.KUtils.MultibodyTUI.swing.SwingConfigMenuTUI(init_config: SwingConfig | None = None)[source]#

Bases: Karana.KUtils.MultibodyTUI.dialog.MenuTUI

The top-level menu for configuring swing settings

property config: SwingConfig | None#
footer() → list[str][source]#
class Karana.KUtils.MultibodyTUI.swing.SwingModeTUI(mode: SwingModeOptions)[source]#

Bases: Karana.KUtils.MultibodyTUI.dialog.ChoiceTUI

Base class for terminal user interfaces

class Karana.KUtils.MultibodyTUI.swing.AmplitudeDialog(amplitude)[source]#

Bases: Karana.KUtils.MultibodyTUI.dialog.EntryDialog

Base class for a user text input TUI

is_valid() → bool[source]#
footer() → list[str][source]#
class Karana.KUtils.MultibodyTUI.swing.StepSizeDialog(step_size)[source]#

Bases: Karana.KUtils.MultibodyTUI.dialog.EntryDialog

Base class for a user text input TUI

is_valid() → bool[source]#
footer() → list[str][source]#
class Karana.KUtils.MultibodyTUI.swing.DeltaTDialog(deltaT)[source]#

Bases: Karana.KUtils.MultibodyTUI.dialog.EntryDialog

Base class for a user text input TUI

is_valid() → bool[source]#
footer() → list[str][source]#
class Karana.KUtils.MultibodyTUI.swing.KinMotion(multibody: Karana.Dynamics.Multibody)[source]#
multibody#
x_init#
deltaT = 6.0#
pulseT = 0.75#
driven_subhinge = None#
subhinge_index = 0#
move_start_t = None#
A = None#
render = False#
gsm = None#
state_propagator#
dash_app#
getDashApp()[source]#
move(subhinge: Karana.Dynamics.PhysicalSubhinge, amplitude: float, deltaT: float, render: bool, subhinge_index: int, step_size: float)[source]#
class Karana.KUtils.MultibodyTUI.swing.SwingManager(multibody: Karana.Dynamics.Multibody, notify: Karana.KUtils.MultibodyTUI.notify.Notifier)[source]#
swingHinge(hinge: Karana.Dynamics.PhysicalHinge, mode: SwingModeOptions, amplitude: float, step_size: float, deltaT: float, render: bool, coord_offset: int)[source]#
swingConvel(lc: Karana.Dynamics.LoopConstraintConVel, amplitude: float, deltaT: float, render: bool, step_size: float)[source]#

Swing a convel loop constraint

Contents