pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener Class Reference

listens to PressureState messages More...

Public Member Functions
def	__init__
def	front_columns_touching
	report whether each column of 5 elements on each sensor's front (from +z side to -z side) is in contact
def	front_rows_touching
	report whether each row of 3 elements on each sensor's front (from base to tip) is in contact
def	get_readings
	get copies of the raw readings
def	get_relative_readings
	get the readings relative to the thresholds (no zeroing of values that are below)
def	get_sensor_status
	get readings, thresholded and categorized
def	get_thresholded_readings
	get copies of the thresholded readings
def	pplist
	pretty-print list to string
def	print_sensor_status
	print the current readings, thresholded and categorized
def	regions_touching
	report whether various regions are touching (tip, plus_z_side, neg_z_side, front, back) for each sensor
def	sensor_callback
	callback: store the PressureState messages as they come in
def	set_thresholds
	run this when you're sure you're not touching anything, to set the noise threshold
def	test_sensor_thresholds
	test sensor sensitivity
Public Attributes
	front_threshold_buffer
	gripper
	l_readings
	l_thres
	l_threshold
	lock
	r_readings
	r_thres
	r_threshold
	side_threshold_buffer
	threshold_buffers

Detailed Description

listens to PressureState messages

Definition at line 52 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::__init__	(	self,
		gripper
	)

Definition at line 54 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::front_columns_touching	(	self,
		l_readings = `None`,
		r_readings = `None`
	)

report whether each column of 5 elements on each sensor's front (from +z side to -z side) is in contact

Definition at line 244 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::front_rows_touching	(	self,
		l_readings = `None`,
		r_readings = `None`
	)

report whether each row of 3 elements on each sensor's front (from base to tip) is in contact

Definition at line 222 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::get_readings ( self )

get copies of the raw readings

Definition at line 109 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::get_relative_readings ( self )

get the readings relative to the thresholds (no zeroing of values that are below)

Definition at line 119 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::get_sensor_status	(	self,
		l_readings = `None`,
		r_readings = `None`
	)

get readings, thresholded and categorized

Definition at line 193 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::get_thresholded_readings ( self )

get copies of the thresholded readings

Definition at line 95 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::pplist	(	self,
		list
	)

pretty-print list to string

Definition at line 168 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::print_sensor_status	(	self,
		l_readings = `None`,
		r_readings = `None`
	)

print the current readings, thresholded and categorized

Definition at line 173 of file hand_sensor_listeners.py.

def pr2_gripper_reactive_approach::hand_sensor_listeners::FingertipSensorListener::regions_touching	(	self,
		l_readings = `None`,
		r_readings = `None`
	)