iri_wam_smach.st_wam_move_in_cartesian_pose.MoveWamInCartesianPose Class Reference

List of all members.

Public Member Functions
def	__init__
def	execute
Public Attributes
	acc
	move_service
	velocity

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Detailed Description

Move WAM given a cartesian pose (no planning or obstacle avoidance)
It will use the cartesian move by torque implemented by libbarrett since 1.1.0

@type move_service : str
@param move_service : URI of move in joinst wam service
@type velocity: int
@param velocity: velocity for movement (not implemented yet)
@type acc: int
@acc: acceleration for movement (not implemented yet)

Definition at line 8 of file st_wam_move_in_cartesian_pose.py.

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Constructor & Destructor Documentation

def iri_wam_smach.st_wam_move_in_cartesian_pose.MoveWamInCartesianPose.__init__	(		self,
			move_service,
			velocity = 0,
			acc = 0
	)

Definition at line 20 of file st_wam_move_in_cartesian_pose.py.

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Member Function Documentation

def iri_wam_smach.st_wam_move_in_cartesian_pose.MoveWamInCartesianPose.execute	(		self,
			userdata
	)

Definition at line 27 of file st_wam_move_in_cartesian_pose.py.

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Member Data Documentation

iri_wam_smach::st_wam_move_in_cartesian_pose.MoveWamInCartesianPose::acc

Definition at line 20 of file st_wam_move_in_cartesian_pose.py.

iri_wam_smach::st_wam_move_in_cartesian_pose.MoveWamInCartesianPose::move_service

Definition at line 20 of file st_wam_move_in_cartesian_pose.py.

iri_wam_smach::st_wam_move_in_cartesian_pose.MoveWamInCartesianPose::velocity

Definition at line 20 of file st_wam_move_in_cartesian_pose.py.

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

• st_wam_move_in_cartesian_pose.py