Class for interacting with the JointTrajectory controller on the PR2. More...

Inheritance diagram for hrl_pr2_arms.pr2_arm_joint_traj.PR2ArmJointTraj:

Public Member Functions
def	__init__
def	get_ep
	Returns the current equilibrium point.
def	interpolate_ep
	Interpolates from one ep to the other using the trajectory specified by t.
def	set_ep
	Commands joint angles to a single position.
Public Attributes
	joint_action_client
Private Member Functions
def	_ctrl_state_cb
Private Attributes
	_state_sub

Detailed Description

Class for interacting with the JointTrajectory controller on the PR2.

Controller type: robot_mechanism_controllers/JointTrajectoryActionController The equilibrium points are lists of joint angles.

Definition at line 50 of file pr2_arm_joint_traj.py.

Constructor & Destructor Documentation

def hrl_pr2_arms.pr2_arm_joint_traj.PR2ArmJointTraj.__init__	(	self,
		arm_side,
		urdf,
		base_link = `'torso_lift_link'`,
		end_link = `'%s_gripper_tool_frame'`,
		controller_name = `'/%s_arm_controller'`,
		kdl_tree = `None`,
		timeout = `1.`
	)

Definition at line 51 of file pr2_arm_joint_traj.py.

def hrl_pr2_arms.pr2_arm_joint_traj.PR2ArmJointTraj._ctrl_state_cb	(	self,
		ctrl_state
	)	`[private]`

Definition at line 67 of file pr2_arm_joint_traj.py.

def hrl_pr2_arms.pr2_arm_joint_traj.PR2ArmJointTraj.get_ep	(	self,
		wrapped = `False`
	)

Returns the current equilibrium point.

Definition at line 84 of file pr2_arm_joint_traj.py.

def hrl_pr2_arms.pr2_arm_joint_traj.PR2ArmJointTraj.interpolate_ep	(	self,
		ep_a,
		ep_b,
		t_vals
	)

Interpolates from one ep to the other using the trajectory specified by t.

Parameters:

ep_a	The starting EP.
ep_b	The ending EP.
t_vals	List of values in [0, 1] representing where in the linear interpolation of ep_a to ep_b to place that point.

Definition at line 114 of file pr2_arm_joint_traj.py.

def hrl_pr2_arms.pr2_arm_joint_traj.PR2ArmJointTraj.set_ep	(	self,
		jep,
		duration,
		delay = `0.0`
	)

Commands joint angles to a single position.

Parameters:

jep	List of joint params to command the the arm to reach
duration	Length of time command should take
delay	Time to wait before starting joint command

Definition at line 97 of file pr2_arm_joint_traj.py.

Definition at line 51 of file pr2_arm_joint_traj.py.

Definition at line 51 of file pr2_arm_joint_traj.py.

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