Class defining the core EPC function and a few simple examples. More...
Public Member Functions | |
def | __init__ |
def | epc_motion |
def | go_jep |
this function only makes sense for arms where we have Joint space Equilibrium Point Control. | |
def | pause_cb |
def | stop_cb |
Public Attributes | |
pause_epc | |
robot | |
stop_epc |
Class defining the core EPC function and a few simple examples.
More complex behaviors that use EPC should have their own ROS packages.
def equilibrium_point_control.epc.EPC.__init__ | ( | self, | |
robot, | |||
epc_name = 'epc' |
|||
) |
def equilibrium_point_control.epc.EPC.epc_motion | ( | self, | |
ep_gen, | |||
time_step, | |||
timeout = np.inf |
|||
) |
ep_gen | - object of EP_Generator. can include any state that you want. |
time_step,: | time between successive calls to equi_pt_generator |
timeout | - time after which the epc motion will stop. |
def equilibrium_point_control.epc.EPC.go_jep | ( | self, | |
goal_jep, | |||
speed = math.radians(20) |
|||
) |
def equilibrium_point_control.epc.EPC.pause_cb | ( | self, | |
msg | |||
) |
def equilibrium_point_control.epc.EPC.stop_cb | ( | self, | |
msg | |||
) |