controller_interface::Arm Class Reference

List of all members.

Public Member Functions
def	__init__
def	getArmSeedAngles
def	getIK
def	getJointAngles
def	getJointNames
def	getState
def	goToAngle
def	goToPoint
def	goToPose
def	sendTraj
Public Attributes
	cAngles
	controller
	ikPath
	joint_names
	trajClient
Private Attributes
	_runIK

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Detailed Description

Definition at line 102 of file controller_interface.py.

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Member Function Documentation

def controller_interface::Arm::__init__	(		self,
			controller,
			ikPath
	)

Definition at line 103 of file controller_interface.py.

def controller_interface::Arm::getArmSeedAngles

(

self

)

Definition at line 138 of file controller_interface.py.

def controller_interface::Arm::getIK	(		self,
			goalPose,
			link_name,
			seedAngles
	)

Calls inverse kinematics service for the arm. 
    goalPose -  Pose Stamped message showing desired position of link in coord system
    linkName - goal Pose target link name -  (r_wrist_roll_link or l_wrist_roll_link)
    startAngles -  seed angles for IK

Definition at line 145 of file controller_interface.py.

def controller_interface::Arm::getJointAngles

(

self

)

Definition at line 131 of file controller_interface.py.

def controller_interface::Arm::getJointNames

(

self

)

Contacts param server to get controller joints 

Definition at line 127 of file controller_interface.py.

def controller_interface::Arm::getState

(

self

)

Returns the current state of action client

Definition at line 122 of file controller_interface.py.

def controller_interface::Arm::goToAngle	(		self,
			angles,
			time,
			wait = True
	)

Definition at line 161 of file controller_interface.py.

def controller_interface::Arm::goToPoint	(		self,
			point,
			frame_id = "torso_lift_link",
			wait = True
	)

Definition at line 176 of file controller_interface.py.

def controller_interface::Arm::goToPose	(		self,
			pos,
			orientation,
			frame_id,
			time,
			wait = True
	)

This method uses getIK to move the x_wrist_roll_link to the 
    specific point and orientation specified in frame_id's coordinates. 
    Time specifies the duration of the planned trajectory, 
    wait whether to block or not. 

Definition at line 182 of file controller_interface.py.

def controller_interface::Arm::sendTraj	(		self,
			traj,
			wait = True
	)

Send the joint trajectory goal to the action server

Definition at line 115 of file controller_interface.py.

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Member Data Documentation

controller_interface::Arm::_runIK [private]

Definition at line 111 of file controller_interface.py.

controller_interface::Arm::cAngles

Definition at line 108 of file controller_interface.py.

controller_interface::Arm::controller

Definition at line 104 of file controller_interface.py.

controller_interface::Arm::ikPath

Definition at line 110 of file controller_interface.py.

controller_interface::Arm::joint_names

Definition at line 107 of file controller_interface.py.

controller_interface::Arm::trajClient

Definition at line 105 of file controller_interface.py.

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The documentation for this class was generated from the following file:

• controller_interface.py