pr2_arms.py File Reference

Go to the source code of this file.

Classes
class	hrl_pr2_door_opening.pr2_arms.PR2Arms
class	hrl_pr2_door_opening.pr2_arms.PR2Arms_kdl
	using KDL for pr2 arm kinematics. More...
Namespaces
namespace	hrl_pr2_door_opening::pr2_arms
Functions
def	hrl_pr2_door_opening::pr2_arms.log
def	hrl_pr2_door_opening::pr2_arms.make_column
	Convert arrays, lists, matricies to column format.
Variables
	hrl_pr2_door_opening::pr2_arms.arm = r_arm
	hrl_pr2_door_opening::pr2_arms.diff_J = J_kdl-J_adv
tuple	hrl_pr2_door_opening::pr2_arms.J_adv = pr2_kdl.Jacobian(arm, q, p)
tuple	hrl_pr2_door_opening::pr2_arms.J_kdl = pr2_kdl.Jac(arm , q)
list	hrl_pr2_door_opening::pr2_arms.jep = [0.]
tuple	hrl_pr2_door_opening::pr2_arms.m = hv.create_frame_marker(p, rot, 0.15, '/torso_lift_link')
tuple	hrl_pr2_door_opening::pr2_arms.marker_pub = rospy.Publisher('/pr2_kdl/ee_marker', Marker)
string	hrl_pr2_door_opening::pr2_arms.node_name = "pr2_arms"
tuple	hrl_pr2_door_opening::pr2_arms.pr2_arms = PR2Arms()
tuple	hrl_pr2_door_opening::pr2_arms.pr2_kdl = PR2Arms_kdl()
tuple	hrl_pr2_door_opening::pr2_arms.q = pr2_arms.get_joint_angles(arm)
tuple	hrl_pr2_door_opening::pr2_arms.rt = rospy.Rate(100)