publisher: publishes all relevant haptic state information on a common interface independent of robot type. More...

Public Member Functions
def	__init__
	Constructor for robot haptic state server.
def	getHapticStateMessage
	Build the haptic state message data structure.
def	getMessageHeader
def	getTaxelLocationAndJointList
	Returns a list of taxel locations and a list of joint numbers after which the joint torque will have no effect on the contact force.
def	initCody
	Initialise parameters for the state publisher when used on Cody.
def	initComms
def	initCrona
def	initPR2
	Initialise parameters for the state publisher when used on the PR2.
def	initRobot
	Initialise all robot specific parameters (skin topics, robot interfaces, etc).
def	initSim
	Initialise parameters for the state publisher when used in simulation with the 3DOF arm.
def	initSimCody
def	modifyPR2Taxels
	Modify taxel data for PR2 specific situations TODO: Survy to implement selective taxel ignoring.
def	modifyRobotSpecificTaxels
	Modifies data from the taxel array based on robot specific configurations.
def	publishRobotState
	Build and publish the haptic state message.
def	setControllerJointLimits
	Pushes the given joint limits to a known location on the param server.
def	signal_handler
	Handler for Ctrl-C signals.
def	start
	Start the state publisher.
def	updateContactJacobians
	Compute contact Jacobians based on the provided taxel array dictionary.
def	updateEndEffectorJacobian
def	updateEndEffectorPose
def	updateHapticState
	Calls all the sub-component updates.
def	updateJointStates
def	updateTorsoPose
	Returns a Pose object for the torso pose in the stated inertial frame.
Public Attributes
	base_path
	desired_joint_angles
	end_effector_orient_cart
	end_effector_orient_quat
	end_effector_position
	gripper_pose_pub
	inertial_frame
	Jc
	Je
	joint_angles
	joint_damping
	joint_data_lock
	joint_limits_max
	joint_limits_min
	joint_names
	Store latest joint states from the specified robot class.
	joint_stiffness
	joint_velocities
	ma_to_m
	msg_seq
	node_name
	opt
	rate
	robot
	robot_path
	skin_client
	skin_topic_list
	skins
	state_pub
	tf_listener
	torso_frame
	torso_pose
	trim_threshold

Detailed Description

publisher: publishes all relevant haptic state information on a common interface independent of robot type.

Definition at line 47 of file robot_haptic_state_node.py.

Constructor & Destructor Documentation

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.__init__	(	self,
		opt,
		node_name = `None`
	)

Constructor for robot haptic state server.

Definition at line 49 of file robot_haptic_state_node.py.

Member Function Documentation

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.getHapticStateMessage ( self )

Build the haptic state message data structure.

Returns:: haptic_state_msg Haptic State message object containing relevant data

Definition at line 502 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.getMessageHeader ( self )

Definition at line 363 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.getTaxelLocationAndJointList	(	self,
		skin_data
	)

Returns a list of taxel locations and a list of joint numbers after which the joint torque will have no effect on the contact force.

Parameters:

skin_data Dictionary of TaxelArrays indexed by topic

Return values:

locations	List of taxel locations where a force is present
joint_nums	List of joints after which the joint torque will have no effect on the contact force

Returns:: These arrays will both be the same length (as the joint number corresponds

Definition at line 436 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initCody	(	self,
		num_of_joints = `7`
	)

Initialise parameters for the state publisher when used on Cody.

Definition at line 166 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initComms ( self )

Definition at line 344 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initCrona ( self )

Definition at line 295 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initPR2 ( self )

Initialise parameters for the state publisher when used on the PR2.

Definition at line 114 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initRobot	(	self,
		robot_type = `"pr2"`
	)

Initialise all robot specific parameters (skin topics, robot interfaces, etc).

Calls the appropriate init function.

Definition at line 98 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initSim	(	self,
		robot_type = `'sim3'`
	)

Initialise parameters for the state publisher when used in simulation with the 3DOF arm.

Definition at line 218 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.initSimCody ( self )

Definition at line 265 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.modifyPR2Taxels	(	self,
		skin_data
	)

Modify taxel data for PR2 specific situations TODO: Survy to implement selective taxel ignoring.

Parameters:

skin_data Dictionary containing taxel array messages indexed by topic name

Definition at line 471 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.modifyRobotSpecificTaxels	(	self,
		skin_data
	)

Modifies data from the taxel array based on robot specific configurations.

An example of this is ignoring the PR2 wrist taxels when the wrist is near its joint limit as the wrist itself will trigger the taxel.

Parameters:

skin_data Dict containing taxel array messages indexed by topic name

Returns:: skin_data Modified dictionary containing taxel array messages

Definition at line 480 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.publishRobotState ( self )

Build and publish the haptic state message.

Definition at line 546 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.setControllerJointLimits	(	self,
		joint_limits_max,
		joint_limits_min
	)

Pushes the given joint limits to a known location on the param server.

The control loads these on startup.

Definition at line 355 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.signal_handler	(	self,
		signal,
		frame
	)

Handler for Ctrl-C signals.

Some of the ROS spin loops don't respond well to Ctrl-C without this.

Definition at line 567 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.start ( self )

Start the state publisher.

Definition at line 572 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.updateContactJacobians	(	self,
		skin_data
	)

Compute contact Jacobians based on the provided taxel array dictionary.

Parameters:

skin_data Dictionary containing taxel array messages indexed by topic name

Definition at line 375 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.updateEndEffectorJacobian ( self )

Definition at line 370 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.updateEndEffectorPose ( self )

Definition at line 424 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.updateHapticState ( self )

Calls all the sub-component updates.

Definition at line 486 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.updateJointStates ( self )

Definition at line 413 of file robot_haptic_state_node.py.

def hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer.updateTorsoPose ( self )

Returns a Pose object for the torso pose in the stated inertial frame.

Definition at line 394 of file robot_haptic_state_node.py.

Member Data Documentation

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::base_path

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::desired_joint_angles

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::end_effector_orient_cart

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::end_effector_orient_quat

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::end_effector_position

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::gripper_pose_pub

Definition at line 344 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::inertial_frame

Definition at line 114 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::Jc

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::Je

Definition at line 49 of file robot_haptic_state_node.py.

def hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_angles

Definition at line 49 of file robot_haptic_state_node.py.

def hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_damping

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_data_lock

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_limits_max

Definition at line 114 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_limits_min

Definition at line 114 of file robot_haptic_state_node.py.

def hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_names

Store latest joint states from the specified robot class.

Definition at line 49 of file robot_haptic_state_node.py.

def hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_stiffness

Definition at line 49 of file robot_haptic_state_node.py.

def hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::joint_velocities

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::ma_to_m

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::msg_seq

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::node_name

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::opt

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::rate

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::robot

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::robot_path

Definition at line 114 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::skin_client

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::skin_topic_list

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::skins

Definition at line 295 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::state_pub

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::tf_listener

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::torso_frame

Definition at line 114 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::torso_pose

Definition at line 49 of file robot_haptic_state_node.py.

hrl_haptic_mpc::robot_haptic_state_node.RobotHapticStateServer::trim_threshold

Definition at line 49 of file robot_haptic_state_node.py.

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

robot_haptic_state_node.py

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation