Provides an interface to process TaxelArrays published on multiple topics, including trimming the data and transforming the reference frame. More...

Public Member Functions
def	__init__
	Constructor.
def	addSkinTopic
	Add skin topic to internal data structures.
def	addSkinTopicCallback
	Callback function which sets the topic.
def	getContactLocationsFromTaxelArray
def	getSkinData
	getSkinData accessor function Returns a copy of the skin_data dictionary
def	getTaxelLocationAndJointList
	Returns a list of taxel locations and list of joint numbers after which the joint torque will have no effect on the contact force, and optionally a time stamp Must be implemented by every robot specific skin client.
def	getTrimmedSkinData
	getTrimmedSkinData accessor function Returns a copy of the trimmed_skin_data dictionary
def	removeSkinTopic
	Remove skin topic from internal data structures.
def	removeSkinTopicCallback
	Callback function to removed skin topic.
def	setTrimThreshold
	Set the trim threshold used by the client.
def	skinCallback
	Skin Callback.
def	transformTaxelArray
	Transform a single taxel array message from one frame to another.
def	trimSkinContacts
	Return a trimmed copy of the the skin_data dictionary.
def	trimTaxelArray
	Trim a passed TaxelArray to only incorporate forces of significance.
Public Attributes
	current_topics_pub
	Add skin topic subscriber.
	data_lock
	Lock for skin data structure.
	skin_data
	Dictionary containing the raw TaxelArray messages heard by the client, indexed by topic name.
	skin_subs
	Dictionary containing the skin subscribers, indexed by topic name.
	skin_topic_list
	List of skin topics used by the client.
	tf_lstnr
	TF Listener.
	topic_lock
	Lock for skin data topics.
	torso_frame
	torso_frame Torso frame ID used as the base frame for the associated arm, eg, "/torso_lift_link"
	trim_threshold
	Threshold used to control how the data is trimmed - should be set by whatever instatiates a TaxelArrayClient.
	trimmed_skin_data
	Dictionary containing the processed TaxelArray messages heard by the client, indexed by topic name.

Detailed Description

Provides an interface to process TaxelArrays published on multiple topics, including trimming the data and transforming the reference frame.

Definition at line 38 of file skin_client.py.

Constructor & Destructor Documentation

def hrl_haptic_mpc.skin_client.TaxelArrayClient.__init__	(	self,
		skin_topic_list,
		torso_frame = `"/torso_lift_link"`,
		tf_listener = `None`
	)

Constructor.

Parameters:

skin_topic_list	List of strings specifying the topics to subscribe to for TaxelArray messages
torso_frame	String indicating which frame ID is the base frame for the arm
tf_listener	TF Listener object, if one exists. If this is None, the class will create one.

Definition at line 43 of file skin_client.py.

Member Function Documentation

def hrl_haptic_mpc.skin_client.TaxelArrayClient.addSkinTopic	(	self,
		skin_topic
	)

Add skin topic to internal data structures.

Parameters:

skin_topic String specifying the topic to be added.

Definition at line 110 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.addSkinTopicCallback	(	self,
		msg
	)

Callback function which sets the topic.

Parameters:

msg	std_msgs/String message.

Definition at line 94 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.getContactLocationsFromTaxelArray	(	self,
		ta_msg
	)

Definition at line 291 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.getSkinData ( self )

getSkinData accessor function Returns a copy of the skin_data dictionary

Definition at line 277 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.getTaxelLocationAndJointList ( self )

Returns a list of taxel locations and list of joint numbers after which the joint torque will have no effect on the contact force, and optionally a time stamp Must be implemented by every robot specific skin client.

Definition at line 301 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.getTrimmedSkinData ( self )

getTrimmedSkinData accessor function Returns a copy of the trimmed_skin_data dictionary

Definition at line 283 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.removeSkinTopic	(	self,
		skin_topic
	)

Remove skin topic from internal data structures.

Parameters:

skin_topic String specifying the topic to be removed.

Definition at line 120 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.removeSkinTopicCallback	(	self,
		msg
	)

Callback function to removed skin topic.

Parameters:

msg	StringArray message.

Definition at line 102 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.setTrimThreshold	(	self,
		threshold
	)

Set the trim threshold used by the client.

Should be greater or equal to 0.0.

Parameters:

threshold Desired threshold. Should be greater than or equal to 0.0.

Definition at line 89 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.skinCallback	(	self,
		msg,
		skin_topic
	)

Skin Callback.

Store the message in the data dictionary, indexed by topic. Keeps the raw data in dictionary 'skin_data' and the transformed, trimmed data in 'trimmed_skin_data'

Parameters:

msg	TaxelArray message object
skin_topic	The topic name triggering the callback. Used to identify what sensor the TaxelArray came from (as there may be multiple publishers running)

Definition at line 134 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.transformTaxelArray	(	self,
		ta_msg,
		new_frame
	)

Transform a single taxel array message from one frame to another.

Parameters:

ta_msg	TaxelArray message object to be transformed
new_frame	The desired frame name

Returns:: The transformed message with all values in the new coordinate frame.

Definition at line 172 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.trimSkinContacts	(	self,
		threshold
	)

Return a trimmed copy of the the skin_data dictionary.

Each TaxelArray within the structure will be trimmed.

Parameters:

threshold Threshold parameter (float greater than 0.0)

Definition at line 218 of file skin_client.py.

def hrl_haptic_mpc.skin_client.TaxelArrayClient.trimTaxelArray	(	self,
		ta_msg,
		threshold
	)

Trim a passed TaxelArray to only incorporate forces of significance.

Returns a trimmed TaxelArray message object with forces of magnitude > threshold. The data is otherwise unchanged.

Definition at line 232 of file skin_client.py.

Member Data Documentation

hrl_haptic_mpc::skin_client.TaxelArrayClient::current_topics_pub

Add skin topic subscriber.

Remove skin topic subscriber Current topics ROS publisher. Publishes the list of topics on change.

Definition at line 56 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::data_lock

Lock for skin data structure.

Definition at line 44 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::skin_data

Dictionary containing the raw TaxelArray messages heard by the client, indexed by topic name.

Definition at line 49 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::skin_subs

Dictionary containing the skin subscribers, indexed by topic name.

Definition at line 48 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::skin_topic_list

List of skin topics used by the client.

Definition at line 53 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::tf_lstnr

TF Listener.

Definition at line 51 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::topic_lock

Lock for skin data topics.

Definition at line 45 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::torso_frame

torso_frame Torso frame ID used as the base frame for the associated arm, eg, "/torso_lift_link"

Definition at line 46 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::trim_threshold

Threshold used to control how the data is trimmed - should be set by whatever instatiates a TaxelArrayClient.

Default: 0.0 (ie, trim nothing)

Definition at line 47 of file skin_client.py.

hrl_haptic_mpc::skin_client.TaxelArrayClient::trimmed_skin_data

Dictionary containing the processed TaxelArray messages heard by the client, indexed by topic name.

Definition at line 50 of file skin_client.py.

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

skin_client.py

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation