jttask_utils.jt_task_utils Class Reference

List of all members.

Public Member Functions
def	__init__
def	build_trajectory
def	calc_dist
def	get_l_state
def	get_r_state
def	pose_frame_move
def	rot_l_wrist
def	rot_r_wrist
def	send_posture
def	send_traj
def	send_traj_to_contact
def	test
def	trans_l_hand
def	trans_r_hand
Public Attributes
	curr_state
	SUBSCRIBERS ####.
	dist
	ft_hold_client
	ft_move_client
	Action Clients ####.
	ft_move_r_client
	goal_pub
	PUBLISHERS ####.
	posture_pub
	postures
	STATIC DATA ####.
	tf
	update_frame
	SERVICES ####.
Static Public Attributes
tuple	dist = self.calc_dist(start,finish,arm=arm)
tuple	fracs = np.linspace(0, 1, steps)
tuple	new_q = transformations.quaternion_slerp(qs,qf,frac)
list	poses = [PoseStamped() for i in xrange(steps)]
list	qf
list	qs
list	start = self.curr_state[arm]
	!!!!!!!!!!!! MUST BALANCE SPACING WITH SEND RATE IN 'SEND_TRAJ' FOR CONTROL OF VELOCITY !!!!!!!!!!!!
tuple	steps = int(math.ceil(dist/space))
tuple	xs = np.linspace(start.pose.position.x, finish.pose.position.x, steps)
tuple	ys = np.linspace(start.pose.position.y, finish.pose.position.y, steps)
tuple	zs = np.linspace(start.pose.position.z, finish.pose.position.z, steps)

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Detailed Description

Definition at line 19 of file jttask_utils.py.

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Constructor & Destructor Documentation

def jttask_utils.jt_task_utils.__init__	(		self,
			tf = None
	)

Definition at line 20 of file jttask_utils.py.

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Member Function Documentation

def jttask_utils.jt_task_utils.build_trajectory	(		self,
			finish,
			start = None,
			arm = 0,
			space = 0.001,
			steps = None
	)

Definition at line 219 of file jttask_utils.py.

def jttask_utils.jt_task_utils.calc_dist	(		self,
			ps1,
			ps2 = None,
			arm = 0
	)

Definition at line 266 of file jttask_utils.py.

def jttask_utils.jt_task_utils.get_l_state	(		self,
			ps
	)

Definition at line 94 of file jttask_utils.py.

def jttask_utils.jt_task_utils.get_r_state	(		self,
			ps
	)

Definition at line 97 of file jttask_utils.py.

def jttask_utils.jt_task_utils.pose_frame_move	(		self,
			pose,
			x,
			y = 0,
			z = 0,
			arm = 0
	)

Definition at line 250 of file jttask_utils.py.

def jttask_utils.jt_task_utils.rot_l_wrist	(		self,
			pt
	)

Definition at line 110 of file jttask_utils.py.

def jttask_utils.jt_task_utils.rot_r_wrist	(		self,
			pt
	)

Definition at line 136 of file jttask_utils.py.

def jttask_utils.jt_task_utils.send_posture	(		self,
			posture = 'off',
			arm = 0
	)

Definition at line 187 of file jttask_utils.py.

def jttask_utils.jt_task_utils.send_traj	(		self,
			poses,
			arm = 0
	)

Definition at line 195 of file jttask_utils.py.

def jttask_utils.jt_task_utils.send_traj_to_contact	(		self,
			poses,
			arm = 0
	)

Definition at line 207 of file jttask_utils.py.

def jttask_utils.jt_task_utils.test

(

self

)

Definition at line 295 of file jttask_utils.py.

def jttask_utils.jt_task_utils.trans_l_hand	(		self,
			pt
	)

Definition at line 162 of file jttask_utils.py.

def jttask_utils.jt_task_utils.trans_r_hand	(		self,
			pt
	)

Definition at line 175 of file jttask_utils.py.

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Member Data Documentation

jttask_utils.jt_task_utils::curr_state

SUBSCRIBERS ####.

Definition at line 23 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::dist = self.calc_dist(start,finish,arm=arm) [static]

Definition at line 224 of file jttask_utils.py.

jttask_utils.jt_task_utils::dist

Definition at line 250 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::fracs = np.linspace(0, 1, steps) [static]

Definition at line 227 of file jttask_utils.py.

jttask_utils.jt_task_utils::ft_hold_client

Definition at line 22 of file jttask_utils.py.

jttask_utils.jt_task_utils::ft_move_client

Action Clients ####.

Definition at line 22 of file jttask_utils.py.

jttask_utils.jt_task_utils::ft_move_r_client

Definition at line 22 of file jttask_utils.py.

jttask_utils.jt_task_utils::goal_pub

PUBLISHERS ####.

Definition at line 24 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::new_q = transformations.quaternion_slerp(qs,qf,frac) [static]

Definition at line 244 of file jttask_utils.py.

list jttask_utils.jt_task_utils::poses = [PoseStamped() for i in xrange(steps)] [static]

Definition at line 230 of file jttask_utils.py.

jttask_utils.jt_task_utils::posture_pub

Definition at line 24 of file jttask_utils.py.

jttask_utils.jt_task_utils::postures

STATIC DATA ####.

Definition at line 25 of file jttask_utils.py.

list jttask_utils.jt_task_utils::qf [static]

Initial value:

[finish.pose.orientation.x, finish.pose.orientation.y,
              finish.pose.orientation.z, finish.pose.orientation.w]

Definition at line 237 of file jttask_utils.py.

list jttask_utils.jt_task_utils::qs [static]

Initial value:

[start.pose.orientation.x, start.pose.orientation.y,
              start.pose.orientation.z, start.pose.orientation.w]

Definition at line 235 of file jttask_utils.py.

list jttask_utils.jt_task_utils::start = self.curr_state[arm] [static]

!!!!!!!!!!!! MUST BALANCE SPACING WITH SEND RATE IN 'SEND_TRAJ' FOR CONTROL OF VELOCITY !!!!!!!!!!!!

Definition at line 222 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::steps = int(math.ceil(dist/space)) [static]

Definition at line 226 of file jttask_utils.py.

jttask_utils.jt_task_utils::tf

Definition at line 20 of file jttask_utils.py.

jttask_utils.jt_task_utils::update_frame

SERVICES ####.

Definition at line 21 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::xs = np.linspace(start.pose.position.x, finish.pose.position.x, steps) [static]

Definition at line 231 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::ys = np.linspace(start.pose.position.y, finish.pose.position.y, steps) [static]

Definition at line 232 of file jttask_utils.py.

tuple jttask_utils.jt_task_utils::zs = np.linspace(start.pose.position.z, finish.pose.position.z, steps) [static]

Definition at line 233 of file jttask_utils.py.

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

• jttask_utils.py