iri_wam_smach.sm_wam_move_from_cartesian_pose.SM_WAM_MoveFromCartesianPose Class Reference

List of all members.

Public Member Functions
def	__init__
def	build_sm
Public Attributes
	move_service
	tool_frame

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Detailed Description

State machine to move the WAM given a cartesian pose.

It is composed by two steps:
         1. Transform cartesian pose to /wam_tcp 
         2. Call to the move action using the correct cartesian pose

@type  move_service : str
@param move_service : URI of move in joinst wam service
@type  ik_service   : str
@param ik_service   : URI of inverse kinematic service
@type  pose_st      : PoseStamped [input_key]
@param pose_st      : Pose to move the 

Definition at line 75 of file sm_wam_move_from_cartesian_pose.py.

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Constructor & Destructor Documentation

def iri_wam_smach.sm_wam_move_from_cartesian_pose.SM_WAM_MoveFromCartesianPose.__init__	(		self,
			move_service,
			tool_frame
	)

Definition at line 91 of file sm_wam_move_from_cartesian_pose.py.

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Member Function Documentation

def iri_wam_smach.sm_wam_move_from_cartesian_pose.SM_WAM_MoveFromCartesianPose.build_sm	(		self,
			tf_listener
	)

Definition at line 95 of file sm_wam_move_from_cartesian_pose.py.

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Member Data Documentation

iri_wam_smach::sm_wam_move_from_cartesian_pose.SM_WAM_MoveFromCartesianPose::move_service

Definition at line 91 of file sm_wam_move_from_cartesian_pose.py.

iri_wam_smach::sm_wam_move_from_cartesian_pose.SM_WAM_MoveFromCartesianPose::tool_frame

Definition at line 91 of file sm_wam_move_from_cartesian_pose.py.

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

• sm_wam_move_from_cartesian_pose.py