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symbol_grounding_grasp_base_pose_experimental_server Namespace Reference

Functions

def getMapClient
def getRobotBasePoseList
def handle_symbol_grounding_grasp_base_pose_experimental
def obstacleCheck
def symbol_grounding_grasp_base_pose_experimental_server

Function Documentation

def symbol_grounding_grasp_base_pose_experimental_server::getMapClient (  ) 
def symbol_grounding_grasp_base_pose_experimental_server::getRobotBasePoseList (   angle,
  dist,
  rbp,
  obj_x,
  obj_y 
)
def symbol_grounding_grasp_base_pose_experimental_server::handle_symbol_grounding_grasp_base_pose_experimental (   req  ) 
#get the robot's current pose from tf
rb_pose = Pose2D()
listener = tf.TransformListener()
listener.waitForTransform("/map", "/base_link", rospy.Time(0), rospy.Duration(4.0)) #wait for 4secs for the coordinate to be transformed
(trans,rot) = listener.lookupTransform("/map", "/base_link", rospy.Time(0))
rb_pose.x = trans[0]
rb_pose.y = trans[1]
rb_pose_rpy = tf.transformations.euler_from_quaternion(rot)
rb_pose.theta = rb_pose_rpy[2]
rospy.sleep(0.5)
#rospy.loginfo(rb_pose)

Definition at line 225 of file symbol_grounding_grasp_base_pose_experimental_server.py.

def symbol_grounding_grasp_base_pose_experimental_server::obstacleCheck (   gbpl,
  po_x,
  po_y,
  po_th,
  po_w,
  po_l,
  fgl,
  to_h 
)
def symbol_grounding_grasp_base_pose_experimental_server::symbol_grounding_grasp_base_pose_experimental_server (  ) 
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srs_symbolic_grounding
Author(s): Beisheng Liu
autogenerated on Tue Mar 5 19:26:14 2013