Public Member Functions | |
def | __init__ |
def | command_goal |
def | command_recovery |
Unit testing only. | |
def | send_cmd |
Send random commands to arm. | |
Private Member Functions | |
def | _get_random_goal |
Private Attributes | |
_arm_client | |
_fail_count | |
_ranges | |
_recovery_client | |
_recovery_positions |
This class sends commands random to an arm using a JointTrajectoryAction. It sends "safe" commands by default. If the arm fails to move after a few tries, it sends an unsafe, predefined recovery command.
Definition at line 65 of file arm_cmder.py.
def life_test::commanders::arm_cmder::ArmCmder::__init__ | ( | self, | ||
arm_client, | ||||
ranges, | ||||
recovery_client, | ||||
recovery_positions | ||||
) |
\param arm_client SimpleActionClient : Client to collision free arm commands \param ranges { str : (float, float) } : Position ranges for each joint. \param recovery_client SimpleActionClient : Client to unsafe arm controller \param recovery_positions { str : float } : Recovery positions for each joint
Definition at line 71 of file arm_cmder.py.
def life_test::commanders::arm_cmder::ArmCmder::_get_random_goal | ( | self | ) | [private] |
Definition at line 112 of file arm_cmder.py.
def life_test::commanders::arm_cmder::ArmCmder::command_goal | ( | self, | ||
goal, | ||||
duration = 15 | ||||
) |
Definition at line 87 of file arm_cmder.py.
def life_test::commanders::arm_cmder::ArmCmder::command_recovery | ( | self | ) |
def life_test::commanders::arm_cmder::ArmCmder::send_cmd | ( | self | ) |
Send random commands to arm.
Definition at line 127 of file arm_cmder.py.
Definition at line 78 of file arm_cmder.py.
Definition at line 83 of file arm_cmder.py.
Definition at line 79 of file arm_cmder.py.
Definition at line 80 of file arm_cmder.py.
Definition at line 81 of file arm_cmder.py.