Functions | |
| def | divRound |
| Rounds the value provided to the nearest 'unit'. | |
| def | get_skew_matrix |
| Return a skew matrix as a numpy matrix given an vector (n=3) input. | |
| def | getAllTaxelArrayDataAsLists |
| Return a taxel array force magnitude vector data as a list (formats it nicely for iteration). | |
| def | getLocations |
| Return a taxel array force magnitude vector data as a list (formats it nicely for iteration). | |
| def | getLocationsFromTaxelArray |
| Return a taxel array force location vector data as a list (formats it nicely for iteration). | |
| def | getNormals |
| Return a taxel array force magnitude vector data as a list (formats it nicely for iteration). | |
| def | getNormalsFromTaxelArray |
| Return a taxel array normal vector data as a list (formats it nicely for iteration). | |
| def | getNumDecimalPlaces |
| Get number of decimal points in a float. | |
| def | getSkewMatrix |
| Return a skew matrix as a numpy matrix given an vector (n=3) input. | |
| def | getTaxelArrayDataAsLists |
| Return a taxel array message data as lists (formats it nicely for iteration). | |
| def | getValidInput |
| Takes an optparse.OptionParser as an input, and returns a valid opt structure (or flags an error). | |
| def | getValues |
| Return a taxel array force magnitude vector data as a list (formats it nicely for iteration). | |
| def | getValuesFromTaxelArray |
| Return a taxel array force magnitude vector data as a list (formats it nicely for iteration). | |
| def | goalOrientationInQuat |
| Interpolate a step towards the given goal orientation. | |
| def | initialiseOptParser |
| Sets up options for an optparse.OptionParser. | |
| def hrl_haptic_mpc.haptic_mpc_util.divRound | ( | value, | |
| unit | |||
| ) |
Rounds the value provided to the nearest 'unit'.
| value | The number being rounded |
| unit | The step size to round the value to. |
Definition at line 214 of file haptic_mpc_util.py.
Return a skew matrix as a numpy matrix given an vector (n=3) input.
Identical to getSkewMatrix - needs to be cleaned up.
| vec | List of length 3 |
Definition at line 166 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getAllTaxelArrayDataAsLists | ( | ta_msg_list | ) |
Return a taxel array force magnitude vector data as a list (formats it nicely for iteration).
| ta_msg_list | A list of TaxelArray message objects. |
| locations_list | List of taxel locations, specified as numpy matrices: [x,y,z].T |
| normals_list | List of normal vectors, specified as numpy matrices: [x,y,z].T |
| values_list | List of force (or distance) magnitudes, specified as numpy matrices: [x,y,z].T |
| joints_list | List of taxel locations, specified as numpy matrices: [x,y,z].T |
Definition at line 89 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getLocations | ( | ta_msg_list | ) |
Return a taxel array force magnitude vector data as a list (formats it nicely for iteration).
| ta_msg_list | A list of TaxelArray message objects. |
| locations_list | List of taxel locations, specified as numpy matrices: [x,y,z].T |
Definition at line 106 of file haptic_mpc_util.py.
Return a taxel array force location vector data as a list (formats it nicely for iteration).
| ta_msg | TaxelArray message object |
| locations_list | List of contact locations, specified as numpy matrices: [x,y,z].T |
Definition at line 66 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getNormals | ( | ta_msg_list | ) |
Return a taxel array force magnitude vector data as a list (formats it nicely for iteration).
| ta_msg_list | A list of TaxelArray message objects. |
| normals_list | List of normal vectors, specified as numpy matrices: [x,y,z].T |
Definition at line 126 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getNormalsFromTaxelArray | ( | ta_msg | ) |
Return a taxel array normal vector data as a list (formats it nicely for iteration).
| ta_msg | TaxelArray message object |
| normals_list | List of normal vectors, specified as numpy matrices: [x,y,z].T |
Definition at line 56 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getNumDecimalPlaces | ( | float_value | ) |
Get number of decimal points in a float.
| float_value | The number being evaluated for the number of decimal places |
Definition at line 208 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getSkewMatrix | ( | vec | ) |
Return a skew matrix as a numpy matrix given an vector (n=3) input.
| vec | List of length 3 |
Definition at line 136 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getTaxelArrayDataAsLists | ( | ta_msg | ) |
Return a taxel array message data as lists (formats it nicely for iteration).
| ta_msg | TaxelArray message object |
| locations_list | List of taxel locations, specified as numpy matrices: [x,y,z].T |
| normals_list | List of normal vectors, specified as numpy matrices: [x,y,z].T |
| values_list | List of force (or distance) magnitudes, specified as numpy matrices: [x,y,z].T |
| joints_list | List of taxel locations, specified as numpy matrices: [x,y,z].T |
Definition at line 38 of file haptic_mpc_util.py.
Takes an optparse.OptionParser as an input, and returns a valid opt structure (or flags an error).
| p | optparse.OptionParser object |
Definition at line 192 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getValues | ( | ta_msg_list, | |
force = True, |
|||
distance = False |
|||
| ) |
Return a taxel array force magnitude vector data as a list (formats it nicely for iteration).
| ta_msg_list | A list of TaxelArray message objects. |
| values_list | List of force (or distance) magnitudes, specified as numpy matrices: [x,y,z].T |
Definition at line 116 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.getValuesFromTaxelArray | ( | ta_msg | ) |
Return a taxel array force magnitude vector data as a list (formats it nicely for iteration).
| ta_msg | TaxelArray message object |
| values_list | List of taxel values (eg, force or proximity), specified as numpy matrices: [x,y,z].T |
Definition at line 76 of file haptic_mpc_util.py.
| def hrl_haptic_mpc.haptic_mpc_util.goalOrientationInQuat | ( | q_h_orient, | |
| q_g_orient, | |||
| max_ang_step | |||
| ) |
Interpolate a step towards the given goal orientation.
| q_h_orient | The current hand orientation as a quaternion in list form: [x,y,z,w] |
| q_g_orient | The current goal orientation as a quaternion in list form: [x,y,z,w] |
Definition at line 148 of file haptic_mpc_util.py.
Sets up options for an optparse.OptionParser.
These parameters are used across multiple classes - eg, robot haptic state publisher, arm trajectory generator, etc
| p | optparse.OptionParser object |
Definition at line 173 of file haptic_mpc_util.py.