Classes |
| class | 2010_icra_epc_pull.arm_trajectories.CartesianTajectory |
| class | 2010_icra_epc_pull.arm_trajectories.ForceTrajectory |
| class | 2010_icra_epc_pull.arm_trajectories.JointTrajectory |
| class | 2010_icra_epc_pull.arm_trajectories.PlanarTajectory |
| | class to store trajectory of a coord frame executing planar motion (x,y,a) data only - use for pickling More...
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Namespaces |
| namespace | 2010_icra_epc_pull::arm_trajectories |
Functions |
| def | 2010_icra_epc_pull::arm_trajectories.account_segway_motion |
| | changes the cartesian trajectory to put everything in the same frame.
|
| def | 2010_icra_epc_pull::arm_trajectories.account_zenithering |
| def | 2010_icra_epc_pull::arm_trajectories.compute_forces |
| | compute the force that the arm would apply given the stiffness matrix
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| def | 2010_icra_epc_pull::arm_trajectories.compute_radial_tangential_forces |
| | return two lists containing the radial and tangential components of the forces.
|
| def | 2010_icra_epc_pull::arm_trajectories.filter_cartesian_trajectory |
| | remove the parts of the trjectory in which the hook is not moving.
|
| def | 2010_icra_epc_pull::arm_trajectories.filter_trajectory_force |
| | remove the parts of the trjectory in which the hook slipped off
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| def | 2010_icra_epc_pull::arm_trajectories.fit_circle |
| | find the x and y coord of the center of the circle and the radius that best matches the data.
|
| def | 2010_icra_epc_pull::arm_trajectories.joint_to_cartesian |
| def | 2010_icra_epc_pull::arm_trajectories.plot_cartesian |
| def | 2010_icra_epc_pull::arm_trajectories.plot_forces_quiver |
Variables |
| tuple | 2010_icra_epc_pull::arm_trajectories.actual_cartesian = account_segway_motion(actual_cartesian_tl,d['segway']) |
| tuple | 2010_icra_epc_pull::arm_trajectories.actual_cartesian_tl = joint_to_cartesian(d['actual']) |
| string | 2010_icra_epc_pull::arm_trajectories.addon = '' |
| float | 2010_icra_epc_pull::arm_trajectories.alpha = 0.7 |
| tuple | 2010_icra_epc_pull::arm_trajectories.angle = math.atan2(y_diff,x_diff) |
| list | 2010_icra_epc_pull::arm_trajectories.arm_stiffness_list = d['stiffness'] |
| list | 2010_icra_epc_pull::arm_trajectories.asl = [min(scale*s,1.0) for s in arm_stiffness_list] |
| string | 2010_icra_epc_pull::arm_trajectories.axis = 'equal' |
| tuple | 2010_icra_epc_pull::arm_trajectories.c_ts = np.matrix([cx, cy, 0.]) |
| tuple | 2010_icra_epc_pull::arm_trajectories.cep_2d = np.matrix(cep_force_clean.p_list) |
| list | 2010_icra_epc_pull::arm_trajectories.cep_2d_s = cep_2d[:,::subsample_ratio] |
| list | 2010_icra_epc_pull::arm_trajectories.cep_2d_zoom = cep_2d[:,:zoom_location] |
| list | 2010_icra_epc_pull::arm_trajectories.cep_text = cep_2d_zoom[:,-1] |
| string | 2010_icra_epc_pull::arm_trajectories.color = 'y' |
| tuple | 2010_icra_epc_pull::arm_trajectories.curr_size = f.get_size_inches() |
| list | 2010_icra_epc_pull::arm_trajectories.current_pos = pts_2d_zoom[:,-1] |
| int | 2010_icra_epc_pull::arm_trajectories.cx = 45 |
| float | 2010_icra_epc_pull::arm_trajectories.cy = 0.3 |
| tuple | 2010_icra_epc_pull::arm_trajectories.d = ut.load_pickle(fname) |
| string | 2010_icra_epc_pull::arm_trajectories.dest = 'icra_presentation_plot' |
| list | 2010_icra_epc_pull::arm_trajectories.ee_start_pos = pts_list[0] |
| tuple | 2010_icra_epc_pull::arm_trajectories.end_angle |
| list | 2010_icra_epc_pull::arm_trajectories.end_pt = pts2d_actual_t[:,-1] |
| tuple | 2010_icra_epc_pull::arm_trajectories.eq_cartesian = account_segway_motion(eq_cartesian_tl, d['segway']) |
| tuple | 2010_icra_epc_pull::arm_trajectories.eq_cartesian_tl = joint_to_cartesian(d['eq_pt']) |
| | 2010_icra_epc_pull::arm_trajectories.eq_pts_list = eq_cartesian.p_list |
| | 2010_icra_epc_pull::arm_trajectories.expt_plot = opt.exptplot |
| tuple | 2010_icra_epc_pull::arm_trajectories.f = pl.gcf() |
| list | 2010_icra_epc_pull::arm_trajectories.fig_name = str_parts[0] |
| | 2010_icra_epc_pull::arm_trajectories.fname = opt.fname |
| int | 2010_icra_epc_pull::arm_trajectories.fontsize = 15 |
| list | 2010_icra_epc_pull::arm_trajectories.force_list = d['force'] |
| tuple | 2010_icra_epc_pull::arm_trajectories.frad = (wrist_force[0:2,:].T * radial_vec) |
| tuple | 2010_icra_epc_pull::arm_trajectories.frad_text = rad_text_loc+np.matrix([0.,0.015]) |
| string | 2010_icra_epc_pull::arm_trajectories.help = 'pkl file to use.' |
| tuple | 2010_icra_epc_pull::arm_trajectories.hook_force_motion = -(frad - 5) |
| list | 2010_icra_epc_pull::arm_trajectories.hw_text = cep_2d_zoom[:,-1] |
| int | 2010_icra_epc_pull::arm_trajectories.i = 0 |
| string | 2010_icra_epc_pull::arm_trajectories.interval = 'r' |
| string | 2010_icra_epc_pull::arm_trajectories.label = 'Actual\_opt' |
| float | 2010_icra_epc_pull::arm_trajectories.marker_edge_width = 1.5 |
| string | 2010_icra_epc_pull::arm_trajectories.method = 'fmin_bfgs' |
| list | 2010_icra_epc_pull::arm_trajectories.mw_text = cep_2d_zoom[:,-1] |
| list | 2010_icra_epc_pull::arm_trajectories.new_cep = cep_2d_zoom[:,-1] |
| tuple | 2010_icra_epc_pull::arm_trajectories.p = optparse.OptionParser() |
| | 2010_icra_epc_pull::arm_trajectories.p_list = actual_cartesian.p_list |
| | 2010_icra_epc_pull::arm_trajectories.plot_ellipses_flag = opt.plot_ellipses |
| | 2010_icra_epc_pull::arm_trajectories.plot_ellipses_vary_flag = opt.pev |
| | 2010_icra_epc_pull::arm_trajectories.plot_force_components_flag = opt.pfc |
| | 2010_icra_epc_pull::arm_trajectories.plot_force_field_flag = opt.pff |
| | 2010_icra_epc_pull::arm_trajectories.plot_forces_error_flag = opt.plot_forces_error |
| | 2010_icra_epc_pull::arm_trajectories.plot_forces_flag = opt.plot_forces |
| | 2010_icra_epc_pull::arm_trajectories.plot_mechanism_frame = opt.pmf |
| tuple | 2010_icra_epc_pull::arm_trajectories.pts2d_actual = (np.matrix(actual_cartesian.p_list).T) |
| tuple | 2010_icra_epc_pull::arm_trajectories.pts2d_actual_t = rot_mat*(pts2d_actual - translation_mat) |
| list | 2010_icra_epc_pull::arm_trajectories.pts_2d_s = pts_2d[:,::subsample_ratio] |
| list | 2010_icra_epc_pull::arm_trajectories.pts_2d_zoom = pts_2d[:,:zoom_location] |
| | 2010_icra_epc_pull::arm_trajectories.pts_list = actual_cartesian.p_list |
| | 2010_icra_epc_pull::arm_trajectories.rad = opt.rad |
| | 2010_icra_epc_pull::arm_trajectories.rad_guess = rad |
| list | 2010_icra_epc_pull::arm_trajectories.rad_text_loc = pts_2d_zoom[:,-1] |
| tuple | 2010_icra_epc_pull::arm_trajectories.radial_vec = current_pos-np.matrix([cx,cy]) |
| list | 2010_icra_epc_pull::arm_trajectories.ratio_list1 = [0.1,0.3,0.5,0.7,0.9] |
| list | 2010_icra_epc_pull::arm_trajectories.ratio_list2 = [0.1,0.3,0.5,0.7,0.9] |
| list | 2010_icra_epc_pull::arm_trajectories.ratio_list3 = [0.1,0.3,0.5,0.7,0.9] |
| tuple | 2010_icra_epc_pull::arm_trajectories.robot_mat = rot_mat*(np.matrix([robot_x_list,robot_y_list]) - translation_mat) |
| list | 2010_icra_epc_pull::arm_trajectories.robot_x_list = [-robot_width/2,-robot_width/2,robot_width/2,robot_width/2,-robot_width/2] |
| list | 2010_icra_epc_pull::arm_trajectories.robot_y_list = [-robot_length/2,robot_length/2,robot_length/2,-robot_length/2,-robot_length/2] |
| tuple | 2010_icra_epc_pull::arm_trajectories.rot_mat = tr.Rz(angle) |
| string | 2010_icra_epc_pull::arm_trajectories.s = '$h[t]$ = $0.1cm/N \cdot (|\hat{F}_{rad}|-5N) \cdot \hat{v}_{rad}$' |
| float | 2010_icra_epc_pull::arm_trajectories.s0 = 0.2 |
| list | 2010_icra_epc_pull::arm_trajectories.s_list = [s0,s1,s2,s3,0.8] |
| list | 2010_icra_epc_pull::arm_trajectories.s_scale = d['stiffness'] |
| list | 2010_icra_epc_pull::arm_trajectories.scale = d['stiffness'] |
| int | 2010_icra_epc_pull::arm_trajectories.scatter_size = 7 |
| tuple | 2010_icra_epc_pull::arm_trajectories.show_fig = not(opt.noshow) |
| list | 2010_icra_epc_pull::arm_trajectories.sl = [min(s*s_scale,1.0) for s in s_list] |
| list | 2010_icra_epc_pull::arm_trajectories.st_pt = pts_2d[:,0] |
| tuple | 2010_icra_epc_pull::arm_trajectories.start_angle |
| list | 2010_icra_epc_pull::arm_trajectories.start_pt = actual_cartesian.p_list[0] |
| tuple | 2010_icra_epc_pull::arm_trajectories.str_parts = fname.split('.') |
| tuple | 2010_icra_epc_pull::arm_trajectories.sturm_file = open(sturm_file_name,'w') |
| list | 2010_icra_epc_pull::arm_trajectories.sturm_file_name = str_parts[0] |
| | 2010_icra_epc_pull::arm_trajectories.sturm_output = opt.sturm |
| | 2010_icra_epc_pull::arm_trajectories.sturm_pts = cartesian_force_clean.p_list |
| int | 2010_icra_epc_pull::arm_trajectories.subplotnum = 234 |
| int | 2010_icra_epc_pull::arm_trajectories.subsample_ratio = 1 |
| list | 2010_icra_epc_pull::arm_trajectories.tan_text_loc = pts_2d_zoom[:,-1] |
| float | 2010_icra_epc_pull::arm_trajectories.tangential_motion = 0.01 |
| tuple | 2010_icra_epc_pull::arm_trajectories.tangential_vec = np.matrix([[0,-1],[1,0]]) |
| list | 2010_icra_epc_pull::arm_trajectories.time_dict = d['time_dict'] |
| list | 2010_icra_epc_pull::arm_trajectories.time_list = d['force'] |
| | 2010_icra_epc_pull::arm_trajectories.total_cep_motion = hook_force_motion+tangential_motion |
| tuple | 2010_icra_epc_pull::arm_trajectories.translation_mat = np.matrix([cx,cy]) |
| tuple | 2010_icra_epc_pull::arm_trajectories.wf_text = rad_text_loc+np.matrix([-0.05,0.015]) |
| tuple | 2010_icra_epc_pull::arm_trajectories.wrist_force = -np.matrix(force_new.f_list[zoom_location]) |
| tuple | 2010_icra_epc_pull::arm_trajectories.x_coord_list = np.matrix(p_list) |
| list | 2010_icra_epc_pull::arm_trajectories.x_diff = start_pt[0] |
| list | 2010_icra_epc_pull::arm_trajectories.x_guess = ee_start_pos[0] |
| | 2010_icra_epc_pull::arm_trajectories.xy_flag = opt.xy |
| | 2010_icra_epc_pull::arm_trajectories.xyz_flag = opt.xyz |
| | 2010_icra_epc_pull::arm_trajectories.xz_flag = opt.xz |
| list | 2010_icra_epc_pull::arm_trajectories.y_diff = start_pt[1] |
| list | 2010_icra_epc_pull::arm_trajectories.y_guess = ee_start_pos[1] |
| | 2010_icra_epc_pull::arm_trajectories.yz_flag = opt.yz |
| int | 2010_icra_epc_pull::arm_trajectories.zoom_location = 10 |