pr2_arm_hybrid.PR2ArmHybridForce Class Reference

Class for interacting with the Cartesian controllers on the PR2. More...

Inheritance diagram for pr2_arm_hybrid.PR2ArmHybridForce:

List of all members.

Public Member Functions
def	__init__
def	get_ft_wrench
def	set_force
def	set_force_directions
def	set_force_gains
def	set_force_max
def	set_mass_params
def	set_motion_gains
def	set_tip_frame
def	update_gains
def	use_auto_update
def	zero_sensor
Public Attributes
	auto_update
	command_force_max_pub
	command_force_pub
	command_gains_pub
	command_zero_pub
	ctrl_state_dict
	ep
	force_selector
	ft_wrench
	ft_wrench_sub
	rot_d_motion_gains
	rot_i_force_gains
	rot_i_max_force_gains
	rot_p_force_gains
	rot_p_motion_gains
	tip_frame
	trans_d_motion_gains
	trans_i_force_gains
	trans_i_max_force_gains
	trans_p_force_gains
	trans_p_motion_gains
Private Member Functions
def	_ctrl_state_cb
def	_ft_wrench_cb
def	_set_gain

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Detailed Description

Class for interacting with the Cartesian controllers on the PR2.

Controller type: hrl_pr2_force_ctrl/HybridForce The equilibrium points are pose-like objects.

Definition at line 53 of file pr2_arm_hybrid.py.

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Constructor & Destructor Documentation

def pr2_arm_hybrid.PR2ArmHybridForce.__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_hybrid.py.

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Member Function Documentation

def pr2_arm_hybrid.PR2ArmHybridForce._ctrl_state_cb	(		self,
			ctrl_state
	)		[private]

Definition at line 92 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce._ft_wrench_cb	(		self,
			ws
	)		[private]

Definition at line 114 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce._set_gain	(		self,
			local_name,
			val
	)		[private]

Definition at line 141 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.get_ft_wrench

(

self

)

Definition at line 118 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_force	(		self,
			f,
			frame = None
	)

Definition at line 188 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_force_directions	(		self,
			directions
	)

Definition at line 159 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_force_gains	(		self,
			p_trans = None,
			p_rot = None,
			i_trans = None,
			i_rot = None,
			i_max_trans = None,
			i_max_rot = None
	)

Definition at line 130 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_force_max	(		self,
			f
	)

Definition at line 198 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_mass_params	(		self,
			mass,
			center_of_mass = None
	)

Definition at line 171 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_motion_gains	(		self,
			p_trans = None,
			p_rot = None,
			d_trans = None,
			d_rot = None
	)

Definition at line 121 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.set_tip_frame	(		self,
			tip_frame
	)

Definition at line 154 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.update_gains

(

self

)

Definition at line 177 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.use_auto_update	(		self,
			use_auto_update
	)

Definition at line 209 of file pr2_arm_hybrid.py.

def pr2_arm_hybrid.PR2ArmHybridForce.zero_sensor

(

self

)

Definition at line 205 of file pr2_arm_hybrid.py.

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Member Data Documentation

pr2_arm_hybrid.PR2ArmHybridForce::auto_update

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::command_force_max_pub

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::command_force_pub

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::command_gains_pub

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::command_zero_pub

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::ctrl_state_dict

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::ep

Definition at line 92 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::force_selector

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::ft_wrench

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::ft_wrench_sub

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::rot_d_motion_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::rot_i_force_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::rot_i_max_force_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::rot_p_force_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::rot_p_motion_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::tip_frame

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::trans_d_motion_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::trans_i_force_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::trans_i_max_force_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::trans_p_force_gains

Definition at line 54 of file pr2_arm_hybrid.py.

pr2_arm_hybrid.PR2ArmHybridForce::trans_p_motion_gains

Definition at line 54 of file pr2_arm_hybrid.py.

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

• pr2_arm_hybrid.py