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test_interpolated_ik_motion_planner Namespace Reference

Functions

def call_get_interpolated_ik_motion_plan
def check_cartesian_path_lists
def create_pose_stamped
def keypause
def pplist

Variables

 approachmat = sideapproachmat
 approachpos = sideapproachpos
tuple approachquat = list(tf.transformations.quaternion_from_matrix(approachmat))
tuple collision_oper
 grasppos = sidegrasppos
list graspquat = approachquat[:]
tuple ordered_collision_operations = OrderedCollisionOperations([collision_oper,])
tuple sideapproachmat
list sideapproachpos = [.67, -.3, .01]
list sidegrasppos = sideapproachpos[:]
list start_angles = [0]

Function Documentation

def test_interpolated_ik_motion_planner::call_get_interpolated_ik_motion_plan (   start_pose,
  goal_pose,
  start_angles,
  joint_names,
  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,
  ordered_collision_operations = None,
  frame = 'torso_lift_link',
  start_from_end = 0,
  max_joint_vels = [.2]*7,
  max_joint_accs = [.5]*7 
)

Definition at line 28 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner::check_cartesian_path_lists (   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,
  ordered_collision_operations = None,
  frame = 'torso_lift_link' 
)

Definition at line 99 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner::create_pose_stamped (   pose,
  frame_id = 'torso_lift_link' 
)

Definition at line 90 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner::keypause (  ) 

Definition at line 22 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner::pplist (   list  ) 

Definition at line 18 of file test_interpolated_ik_motion_planner.py.


Variable Documentation

Definition at line 127 of file test_interpolated_ik_motion_planner.py.

Definition at line 128 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::approachquat = list(tf.transformations.quaternion_from_matrix(approachmat))

Definition at line 129 of file test_interpolated_ik_motion_planner.py.

Initial value:
CollisionOperation(object1 = "points", \
                                        object2 = CollisionOperation.COLLISION_SET_ALL, \
                                        operation = CollisionOperation.DISABLE)

Definition at line 170 of file test_interpolated_ik_motion_planner.py.

Definition at line 132 of file test_interpolated_ik_motion_planner.py.

Definition at line 133 of file test_interpolated_ik_motion_planner.py.

Definition at line 173 of file test_interpolated_ik_motion_planner.py.

Initial value:
numpy.array([[0., -1., 0., 0.],  
                                   [1., 0., 0., 0.],
                                   [0., 0., 1., 0.],
                                   [0., 0., 0., 1.]])

Definition at line 122 of file test_interpolated_ik_motion_planner.py.

Definition at line 126 of file test_interpolated_ik_motion_planner.py.

Definition at line 130 of file test_interpolated_ik_motion_planner.py.

Definition at line 121 of file test_interpolated_ik_motion_planner.py.

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interpolated_ik_motion_planner
Author(s): Kaijen Hsiao
autogenerated on Fri Mar 1 14:38:04 2013