test_ep_control.TestEPGenerator Class Reference

Inheritance diagram for test_ep_control.TestEPGenerator:

List of all members.

Public Member Functions
def	__init__
def	clamp_ep
	Takes an equilibrium point and clamps it to reasonable control values.
def	control_ep
	Commands the arm to move towards the specified equilibrium point.
def	generate_ep
	Generates a new equilibrium point.
def	terminate_check
	Termination check for collision or goal reaching.
Public Attributes
	ind
	pts

---

Detailed Description

Definition at line 16 of file test_ep_control.py.

---

Constructor & Destructor Documentation

def test_ep_control.TestEPGenerator.__init__	(		self,
			num_steps = 1000
	)

Definition at line 17 of file test_ep_control.py.

---

Member Function Documentation

def test_ep_control.TestEPGenerator.clamp_ep	(		self,
			ep
	)

Takes an equilibrium point and clamps it to reasonable control values.

To be overwritten if needed by the child class.

Parameters:

ep	equilibrium point to clamp

Returns:

clamped equilibrium point

Reimplemented from equilibrium_point_control.ep_control.EPGenerator.

Definition at line 32 of file test_ep_control.py.

def test_ep_control.TestEPGenerator.control_ep	(		self,
			ep
	)

Commands the arm to move towards the specified equilibrium point.

Parameters:

ep	equilibrium point to command the arm towards

Reimplemented from equilibrium_point_control.ep_control.EPGenerator.

Definition at line 29 of file test_ep_control.py.

def test_ep_control.TestEPGenerator.generate_ep

(

self

)

Generates a new equilibrium point.

Returns:

(stop, ep) stop: EPStopConditions.CONTINUE or non-empty string to terminate ep: equilibrium point to be sent to control_function

Reimplemented from equilibrium_point_control.ep_control.EPGenerator.

Definition at line 23 of file test_ep_control.py.

def test_ep_control.TestEPGenerator.terminate_check

(

self

)

Termination check for collision or goal reaching.

To be overwritten if needed by the child class.

Returns:

EPStopConditions.CONTINUE or non-empty string to terminate

Reimplemented from equilibrium_point_control.ep_control.EPGenerator.

Definition at line 35 of file test_ep_control.py.

---

Member Data Documentation

test_ep_control.TestEPGenerator::ind

Definition at line 17 of file test_ep_control.py.

test_ep_control.TestEPGenerator::pts

Definition at line 17 of file test_ep_control.py.

---

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

• test_ep_control.py