Public Member Functions | |
def | __init__ |
def | form_ik_request |
def | joint_state_cb |
def | pose_cb |
Public Attributes | |
arm | |
ik_client | |
ik_info | |
ik_info_proxy | |
joint_state | |
joint_state_lock | |
joint_state_received | |
joint_state_sub | |
log_pub | |
pose_sub | |
traj_client |
A class for performing IK with the PR2
Definition at line 19 of file ik_move.py.
def assistive_teleop.ik_move.IKGoalSender.__init__ | ( | self, | |
arm | |||
) |
Initialize IK Services, arm trajectory client, state, and feedback
Definition at line 21 of file ik_move.py.
def assistive_teleop.ik_move.IKGoalSender.form_ik_request | ( | self, | |
ps | |||
) |
Compose an IK request from ik solver info and pose goal
Definition at line 89 of file ik_move.py.
def assistive_teleop.ik_move.IKGoalSender.joint_state_cb | ( | self, | |
js_msg | |||
) |
Update joint positions and velocities
Definition at line 58 of file ik_move.py.
def assistive_teleop.ik_move.IKGoalSender.pose_cb | ( | self, | |
ps | |||
) |
Perform IK for a goal pose, and send action goal if acheivable
Definition at line 65 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.
Definition at line 22 of file ik_move.py.