pr2_gripper_reactive_approach::controller_manager Namespace Reference

Classes
class	ControllerManager
	class to start/stop/switch between joint and Cartesian controllers More...
class	JointParams
	load the params for the joint controllers onto the param server More...
class	JTCartesianParams
	load the params for the Jtranspose Cartesian controllers onto the param server More...
Functions
def	keypause
Variables
	approachmat = sideapproachmat
	approachpos = sideapproachpos
tuple	approachquat = list(tf.transformations.quaternion_from_matrix(approachmat))
tuple	cm = ControllerManager('r')
tuple	end_pose = create_pose_stamped(grasppos+graspquat)
	grasppos = sidegrasppos
list	graspquat = approachquat[:]
list	points
tuple	result = cm.wait_joint_trajectory_done(rospy.Duration(30.0))
list	sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]
tuple	sideapproachmat
list	sideapproachpos = [.62, -.3, .6]
list	sidegrasppos = sideapproachpos[:]
	start_angles = sideangles
tuple	start_pose = create_pose_stamped(approachpos+approachquat)
list	test_angles
int	tiltangle = 18
list	zeros = [0]

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Function Documentation

def pr2_gripper_reactive_approach::controller_manager::keypause

(

)

Definition at line 1300 of file controller_manager.py.

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Variable Documentation

pr2_gripper_reactive_approach::controller_manager::approachmat = sideapproachmat

Definition at line 1372 of file controller_manager.py.

pr2_gripper_reactive_approach::controller_manager::approachpos = sideapproachpos

Definition at line 1373 of file controller_manager.py.

tuple pr2_gripper_reactive_approach::controller_manager::approachquat = list(tf.transformations.quaternion_from_matrix(approachmat))

Definition at line 1374 of file controller_manager.py.

tuple pr2_gripper_reactive_approach::controller_manager::cm = ControllerManager('r')

Definition at line 1321 of file controller_manager.py.

tuple pr2_gripper_reactive_approach::controller_manager::end_pose = create_pose_stamped(grasppos+graspquat)

Definition at line 1381 of file controller_manager.py.

pr2_gripper_reactive_approach::controller_manager::grasppos = sidegrasppos

Definition at line 1377 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::graspquat = approachquat[:]

Definition at line 1378 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::points

Initial value:

[
    [0.5, -0.5, 0.8, 0.5, 0.0, 0.0, 0.5],
    [0.6, -0.2, 0.4, 0.0, 0.0, 0.5, 0.5],
    [0.2, -0.8, 0.4, 0.0, 0.5, 0.0, 0.5],
    [0.5, -0.5, 1.2, 0.5, 0.0, 0.0, 0.5],
    [0.6, -0.2, 1.2, 0.0, 0.0, 0.5, 0.5],
    [0.2, -0.8, 1.2, 0.0, 0.5, 0.0, 0.5],
    [.62, -.05, .65, -0.5, 0.5, 0.5, 0.5],
    [.62, -.05, .56, -0.5, 0.5, 0.5, 0.5]
  ]

Definition at line 1307 of file controller_manager.py.

tuple pr2_gripper_reactive_approach::controller_manager::result = cm.wait_joint_trajectory_done(rospy.Duration(30.0))

Definition at line 1329 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]

Definition at line 1319 of file controller_manager.py.

tuple pr2_gripper_reactive_approach::controller_manager::sideapproachmat

Initial value:

numpy.array([[0., -1., 0., 0.],  
                                 [math.cos(tiltangle), 0., math.sin(tiltangle), 0.],
                                 [-math.sin(tiltangle), 0., math.cos(tiltangle), 0.],
                                 [0., 0., 0., 1.]])

Definition at line 1367 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::sideapproachpos = [.62, -.3, .6]

Definition at line 1371 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::sidegrasppos = sideapproachpos[:]

Definition at line 1375 of file controller_manager.py.

pr2_gripper_reactive_approach::controller_manager::start_angles = sideangles

Definition at line 1365 of file controller_manager.py.

tuple pr2_gripper_reactive_approach::controller_manager::start_pose = create_pose_stamped(approachpos+approachquat)

Definition at line 1380 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::test_angles

Initial value:

[
  [-0.094, 0.711, -0.000, -1.413, -2.038, -1.172, -0.798],
  [0.126, 0.832, 0.000, -1.740, -2.977, -1.091, 3.043]]

Definition at line 1323 of file controller_manager.py.

int pr2_gripper_reactive_approach::controller_manager::tiltangle = 18

Definition at line 1366 of file controller_manager.py.

list pr2_gripper_reactive_approach::controller_manager::zeros = [0]

Definition at line 1318 of file controller_manager.py.