simple_arm_server::SimpleArmServer Class Reference

List of all members.

Public Member Functions
def	__init__
def	actionCb
def	executeTrajectory
def	motionToTrajectory
def	stateCb
def	validityCb
Public Attributes
	arm_solver_info
	dof
	offset
	root
	server
	servos
	timeout
	tip
Private Attributes
	_client
	_get_ik_proxy
	_get_ik_solver_info_proxy
	_gripper
	_listener

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Detailed Description

    A class to move a 4/5/6DOF arm to a designated location (x,y,z), 
    respecting wrist rotation (roll) and gripper rotation (pitch). 

Definition at line 50 of file simple_arm_server.py.

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Member Function Documentation

def simple_arm_server::SimpleArmServer::__init__

(

self

)

Definition at line 56 of file simple_arm_server.py.

def simple_arm_server::SimpleArmServer::actionCb	(		self,
			req
	)

Given pose to move gripper to, do it. 

Definition at line 111 of file simple_arm_server.py.

def simple_arm_server::SimpleArmServer::executeTrajectory	(		self,
			traj
	)

Execute a trajectory. 

Definition at line 162 of file simple_arm_server.py.

def simple_arm_server::SimpleArmServer::motionToTrajectory	(		self,
			action,
			frame_id
	)

Convert an arm movement action into a trajectory. 

Definition at line 178 of file simple_arm_server.py.

def simple_arm_server::SimpleArmServer::stateCb	(		self,
			msg
	)

Update our known location of joints, for interpolation. 

Definition at line 104 of file simple_arm_server.py.

def simple_arm_server::SimpleArmServer::validityCb	(		self,
			req
	)

Check a trajectory for validity. 

Definition at line 95 of file simple_arm_server.py.

---

Member Data Documentation

simple_arm_server::SimpleArmServer::_client [private]

Definition at line 76 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::_get_ik_proxy [private]

Definition at line 69 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::_get_ik_solver_info_proxy [private]

Definition at line 70 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::_gripper [private]

Definition at line 78 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::_listener [private]

Definition at line 73 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::arm_solver_info

Definition at line 113 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::dof

Definition at line 60 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::offset

Definition at line 64 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::root

Definition at line 61 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::server

Definition at line 85 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::servos

Definition at line 81 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::timeout

Definition at line 63 of file simple_arm_server.py.

simple_arm_server::SimpleArmServer::tip

Definition at line 62 of file simple_arm_server.py.

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

• simple_arm_server.py