interpolated_ik_motion_planner::ik_utilities Namespace Reference

Classes
class	IKUtilities
Functions
def	check_cartesian_path_lists
def	keypause
def	pplist
def	run_cartesian_path_test
def	run_ik_and_fk_test
def	test_ik_with_specific_pose
Variables
tuple	ik_utilities = IKUtilities('right', wait_for_services = 0)

---

Function Documentation

def interpolated_ik_motion_planner::ik_utilities::check_cartesian_path_lists	(		ik_utilities,
			approachpos,
			approachquat,
			grasppos,
			graspquat,
			start_angles,
			pos_spacing = 0.01,
			rot_spacing = 0.1,
			consistent_angle = math.pi/9.,
			collision_aware = 1,
			collision_check_resolution = 1,
			steps_before_abort = -1,
			num_steps = 0,
			frame = 'base_link'
	)

Definition at line 696 of file ik_utilities.py.

def interpolated_ik_motion_planner::ik_utilities::keypause

(

)

Definition at line 691 of file ik_utilities.py.

def interpolated_ik_motion_planner::ik_utilities::pplist

(

list

)

Definition at line 56 of file ik_utilities.py.

def interpolated_ik_motion_planner::ik_utilities::run_cartesian_path_test

(

ik_utilities

)

Definition at line 722 of file ik_utilities.py.

def interpolated_ik_motion_planner::ik_utilities::run_ik_and_fk_test	(		ik_utilities,
			collision_aware = 1
	)

Definition at line 781 of file ik_utilities.py.

def interpolated_ik_motion_planner::ik_utilities::test_ik_with_specific_pose

(

ik_utilities

)

Definition at line 846 of file ik_utilities.py.

---

Variable Documentation

tuple interpolated_ik_motion_planner::ik_utilities::ik_utilities = IKUtilities('right', wait_for_services = 0)

Definition at line 856 of file ik_utilities.py.