Functions | |
| def | angle_axis_to_RPY |
| def | epsEq |
| def | find_dh_param_offsets |
| def | mixed_to_float |
| def | parse_rpy |
| def | parse_xyz |
| def | pplist |
| def | quat_to_rpy |
| def | rpy_to_quat |
Variables | |
| axis_xyz = None | |
| tuple | calibrated_yaml_filename = rospy.myargv() |
| calibration_falling = None | |
| calibration_ind = None | |
| calibration_ref_pos = None | |
| calibration_rising = None | |
| list | chains_to_remove = [x for x in dh_offsets.keys() if x not in system_default['dh_chains'].keys()] |
| dictionary | dh_joint_names |
| dictionary | dh_offsets |
| string | falling_text = "" |
| list | floatvect = [mixed_to_float(x) for x in rotvect] |
| list | foundjointnames = [] |
| list | foundtransforms = [] |
| tuple | initial_yaml_filename = rospy.myargv() |
| list | joint_lines = [] |
| tuple | joint_offsets = dict(joint_offsets_list) |
| list | joint_offsets_list = [] |
| int | lineind = 0 |
| int | looking_for_calibration_pos = 0 |
| int | looking_for_origin = 0 |
| string | newline = "\t<origin rpy=\"%.10f %.10f %.10f\" xyz=\"%.10f %.10f %.10f\"/>" |
| tuple | notfoundjointnames = joint_offsets.keys() |
| tuple | notfoundtransforms = transformdict.keys() |
| string | oldlineending = "" |
| origin_ind = None | |
| origin_rpy = None | |
| origin_xyz = None | |
| tuple | outfile = file(output_filename, 'w') |
| tuple | output_filename = rospy.myargv() |
| string | ref_pos_text = "" |
| string | rising_text = "" |
| tuple | robot_xml_filename = rospy.myargv() |
| string | search_string = "\" type=" |
| int | searchind = 0 |
| tuple | system_calibrated = yaml.load(file(calibrated_yaml_filename, 'r')) |
| tuple | system_default = yaml.load(file(initial_yaml_filename, 'r')) |
| list | tag_split = joint_lines[origin_ind] |
| tuple | transformdict = dict() |
| tuple | xmllines = file(robot_xml_filename, 'r') |
| def propagate_config_ref_positions::angle_axis_to_RPY | ( | vec | ) |
Definition at line 58 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::epsEq | ( | value1, | ||
| value2, | ||||
eps = 1e-10 | ||||
| ) |
Definition at line 23 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::find_dh_param_offsets | ( | chain_name | ) |
Definition at line 44 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::mixed_to_float | ( | mixed | ) |
Definition at line 30 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::parse_rpy | ( | line | ) |
Definition at line 74 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::parse_xyz | ( | line | ) |
Definition at line 77 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::pplist | ( | list | ) |
Definition at line 18 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::quat_to_rpy | ( | q | ) |
Definition at line 70 of file propagate_config_ref_positions.py.
| def propagate_config_ref_positions::rpy_to_quat | ( | rpy | ) |
Definition at line 67 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::axis_xyz = None |
Definition at line 194 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::calibrated_yaml_filename = rospy.myargv() |
Definition at line 90 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::calibration_falling = None |
Definition at line 203 of file propagate_config_ref_positions.py.
Definition at line 200 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::calibration_ref_pos = None |
Definition at line 201 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::calibration_rising = None |
Definition at line 202 of file propagate_config_ref_positions.py.
| list propagate_config_ref_positions::chains_to_remove = [x for x in dh_offsets.keys() if x not in system_default['dh_chains'].keys()] |
Definition at line 109 of file propagate_config_ref_positions.py.
{"right_arm_chain" : ['r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'],
"left_arm_chain" : ['l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'],
"head_chain" : ['head_pan_joint', 'head_tilt_joint'] }
Definition at line 104 of file propagate_config_ref_positions.py.
| dictionary propagate_config_ref_positions::dh_offsets |
{"right_arm_chain":[],
"left_arm_chain":[],
"head_chain":[]}
Definition at line 100 of file propagate_config_ref_positions.py.
| string propagate_config_ref_positions::falling_text = "" |
Definition at line 260 of file propagate_config_ref_positions.py.
| list propagate_config_ref_positions::floatvect = [mixed_to_float(x) for x in rotvect] |
Definition at line 129 of file propagate_config_ref_positions.py.
Definition at line 124 of file propagate_config_ref_positions.py.
Definition at line 145 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::initial_yaml_filename = rospy.myargv() |
Definition at line 89 of file propagate_config_ref_positions.py.
Definition at line 177 of file propagate_config_ref_positions.py.
Definition at line 123 of file propagate_config_ref_positions.py.
Definition at line 120 of file propagate_config_ref_positions.py.
Definition at line 150 of file propagate_config_ref_positions.py.
Definition at line 152 of file propagate_config_ref_positions.py.
Definition at line 153 of file propagate_config_ref_positions.py.
| string propagate_config_ref_positions::newline = "\t<origin rpy=\"%.10f %.10f %.10f\" xyz=\"%.10f %.10f %.10f\"/>" |
Definition at line 243 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::notfoundjointnames = joint_offsets.keys() |
Definition at line 295 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::notfoundtransforms = transformdict.keys() |
Definition at line 287 of file propagate_config_ref_positions.py.
| string propagate_config_ref_positions::oldlineending = "" |
Definition at line 240 of file propagate_config_ref_positions.py.
Definition at line 197 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::origin_rpy = None |
Definition at line 195 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::origin_xyz = None |
Definition at line 196 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::outfile = file(output_filename, 'w') |
Definition at line 149 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::output_filename = rospy.myargv() |
Definition at line 92 of file propagate_config_ref_positions.py.
| string propagate_config_ref_positions::ref_pos_text = "" |
Definition at line 258 of file propagate_config_ref_positions.py.
| string propagate_config_ref_positions::rising_text = "" |
Definition at line 259 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::robot_xml_filename = rospy.myargv() |
Definition at line 91 of file propagate_config_ref_positions.py.
| string propagate_config_ref_positions::search_string = "\" type=" |
Definition at line 156 of file propagate_config_ref_positions.py.
Definition at line 176 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::system_calibrated = yaml.load(file(calibrated_yaml_filename, 'r')) |
Definition at line 96 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::system_default = yaml.load(file(initial_yaml_filename, 'r')) |
Definition at line 95 of file propagate_config_ref_positions.py.
Definition at line 238 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::transformdict = dict() |
Definition at line 127 of file propagate_config_ref_positions.py.
| tuple propagate_config_ref_positions::xmllines = file(robot_xml_filename, 'r') |
Definition at line 148 of file propagate_config_ref_positions.py.