Class defining the core EPC function and a few simple examples. More...

Inheritance diagram for hrl_pr2_lib.epc.EPC:

Public Member Functions
def	__init__
def	cep_gen_surface_follow
def	epc_motion
def	move_till_hit
def	pull_back_cartesian_control
	Pull back along a straight line (-ve x direction)
Public Attributes
	cep_list
	dist_left
	ee_list
	f_list
	robot

Detailed Description

Class defining the core EPC function and a few simple examples.

More complex behaviors that use EPC should have their own ROS packages.

Definition at line 18 of file epc.py.

Constructor & Destructor Documentation

Definition at line 19 of file epc.py.

def hrl_pr2_lib.epc.EPC.cep_gen_surface_follow	(	self,
		arm,
		move_dir,
		force_threshold,
		cep,
		cep_start
	)

Definition at line 121 of file epc.py.

def hrl_pr2_lib.epc.EPC.epc_motion	(	self,
		equi_pt_generator,
		time_step,
		arm,
		arg_list,
		rapid_call_func = `None`,
		control_function = `None`
	)

Parameters:

equi_pt_generator,:	function that returns stop, ea where ea: equilibrium angles and stop: string which is '' for epc motion to continue
rapid_call_func,:	called in the time between calls to the equi_pt_generator can be used for logging, safety etc. returns string which is '' for epc motion to continue
time_step,:	time between successive calls to equi_pt_generator
arg_list	- list of arguments to be passed to the equi_pt_generator