Developer notes

This section documents internal functions and other notes shared between contributors to this project.

Design guidelines

• Pink is designed for clarity before performance

• Leaky abstractions are our enemy

• WIP

Exceptions

Exceptions specific to Pink.

exception pink.exceptions.ConfigurationError

Exception raised when encountering an invalid configuration vector.

exception pink.exceptions.FrameNotFound(name, frames)

Exception raised when a frame is not found in the robot model.

exception pink.exceptions.NotWithinConfigurationLimits(joint, value, lower, upper)

Exception thrown when a robot configuration violates its limits.

joint

Index of the joint in the configuration vector.

value

Invalid value of the joint.

lower

Minimum allowed value for this joint.

upper

Maximum allowed value for this joint.

exception pink.exceptions.PinkError

Base class for Pink exceptions.