Base class for interacting with the Cartesian controllers on the PR2. More...

Inheritance diagram for hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartBase:

Public Member Functions
def	__init__
def	cart_error
	Gets the Cartesian difference in the two poses.
def	interpolate_ep
	Returns pairs of positions and rotations linearly interpolated between the start and end position/orientations.
def	set_ep
	Command the realtime controller to set its cartesian equilibrium point to this pose.
Public Attributes
	command_pose_pub

Detailed Description

Base class for interacting with the Cartesian controllers on the PR2.

The equilibrium points are pose-like objects.

Definition at line 53 of file pr2_arm_cart_base.py.

Constructor & Destructor Documentation

def hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartBase.__init__	(	self,
		arm_side,
		urdf,
		base_link = `'torso_lift_link'`,
		end_link = `'%s_gripper_tool_frame'`,
		controller_name = `'/%s_cart'`,
		kdl_tree = `None`,
		timeout = `1.`
	)

Definition at line 54 of file pr2_arm_cart_base.py.

def hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartBase.cart_error	(	self,
		ep_actual,
		ep_desired
	)

Gets the Cartesian difference in the two poses.

Definition at line 92 of file pr2_arm_cart_base.py.

def hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartBase.interpolate_ep	(	self,
		ep_a,
		ep_b,
		t_vals
	)

Returns pairs of positions and rotations linearly interpolated between the start and end position/orientations.

Rotations are found using slerp

Definition at line 72 of file pr2_arm_cart_base.py.

def hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartBase.set_ep	(	self,
		pose
	)

Command the realtime controller to set its cartesian equilibrium point to this pose.

Parameters:

Pose-like object

Definition at line 64 of file pr2_arm_cart_base.py.

Definition at line 54 of file pr2_arm_cart_base.py.

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