hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm Class Reference

Inheritance diagram for hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm:

List of all members.

Public Member Functions
def	__init__
def	joint_states_cb
	Callback for /joint_states topic.
def	set_delta_ep_callback
def	set_ep
def	set_ep_callback
Public Attributes
	arm_efforts
	base_link
	delta_jep
	end_link
	ep
	joint_names_list
	kp
	q
	qdot
	torso_position

---

Detailed Description

Definition at line 39 of file urdf_arm_darpa_m3.py.

---

Constructor & Destructor Documentation

def hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm.__init__	(		self,
			arm,
			tf_listener = None,
			base_link = None,
			end_link = None
	)

Definition at line 41 of file urdf_arm_darpa_m3.py.

---

Member Function Documentation

def hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm.joint_states_cb	(		self,
			data
	)

Callback for /joint_states topic.

Updates current joint angles and efforts for the arms constantly

Parameters:

data	JointState message recieved from the /joint_states topic

Definition at line 116 of file urdf_arm_darpa_m3.py.

def hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm.set_delta_ep_callback	(		self,
			msg
	)

Definition at line 182 of file urdf_arm_darpa_m3.py.

def hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm.set_ep	(		self,
			jep,
			duration = 0.15
	)

Definition at line 148 of file urdf_arm_darpa_m3.py.

def hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm.set_ep_callback	(		self,
			msg
	)

Definition at line 208 of file urdf_arm_darpa_m3.py.

---

Member Data Documentation

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::arm_efforts

Definition at line 41 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::base_link

Definition at line 41 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::delta_jep

Definition at line 41 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::end_link

Definition at line 41 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::ep

Reimplemented from equilibrium_point_control::hrl_arm::HRLArm.

Definition at line 148 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::joint_names_list

Reimplemented from equilibrium_point_control::hrl_arm::HRLArm.

Definition at line 41 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::kp

Reimplemented from equilibrium_point_control::hrl_arm::HRLArm.

Definition at line 41 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::q

Reimplemented from equilibrium_point_control::hrl_arm::HRLArm.

Definition at line 116 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::qdot

Reimplemented from equilibrium_point_control::hrl_arm::HRLArm.

Definition at line 116 of file urdf_arm_darpa_m3.py.

hrl_haptic_mpc::urdf_arm_darpa_m3.URDFArm::torso_position

Definition at line 41 of file urdf_arm_darpa_m3.py.

---

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

• urdf_arm_darpa_m3.py