test_interpolated_ik_motion_planner Namespace Reference

Functions
def	call_get_interpolated_ik_motion_plan
def	check_cartesian_path_lists
def	create_pose_stamped
def	keypause
def	pplist
Variables
list	approachpos = [0.310897399268, -0.0657663117783, 0.00387362057751]
list	approachquat = [0.0472463304373, 0.834783329681, 1.26495725566e-17, 0.548547697787]
tuple	collision_oper
list	grasppos = [0.360897399268, -0.0657663117783, 0.00387362057751]
list	graspquat = [0.0472463304373, 0.834783329681, 1.26495725566e-17, 0.548547697787]
tuple	ordered_collision_operations = OrderedCollisionOperations([collision_oper,])
tuple	sideapproachmat
list	sideapproachpos = [0.057853,-0.100731,0.439948]
list	sideapproachquat = [-0.203854, -0.127314, 0.655086, 0.71630]
list	start_angles = [0]

---

Function Documentation

def test_interpolated_ik_motion_planner.call_get_interpolated_ik_motion_plan	(		start_pose,
			goal_pose,
			start_angles,
			joint_names,
			pos_spacing = 0.01,
			rot_spacing = 0.1,
			consistent_angle = math.pi/9,
			collision_aware = 1,
			collision_check_resolution = 1,
			steps_before_abort = -1,
			num_steps = 0,
			ordered_collision_operations = None,
			frame = 'katana_base_link',
			start_from_end = 0,
			max_joint_vels = [.2]*5,
			max_joint_accs = [.5]*5
	)

Definition at line 25 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.check_cartesian_path_lists	(		approachpos,
			approachquat,
			grasppos,
			graspquat,
			start_angles,
			pos_spacing = 0.01,
			rot_spacing = 0.1,
			consistent_angle = math.pi/9.,
			collision_aware = 1,
			collision_check_resolution = 1,
			steps_before_abort = -1,
			num_steps = 0,
			ordered_collision_operations = None,
			frame = 'katana_base_link'
	)

Definition at line 93 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.create_pose_stamped	(		pose,
			frame_id = 'katana_base_link'
	)

Definition at line 85 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.keypause

(

)

Definition at line 20 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.pplist

(

list

)

Definition at line 17 of file test_interpolated_ik_motion_planner.py.

---

Variable Documentation

list test_interpolated_ik_motion_planner::approachpos = [0.310897399268, -0.0657663117783, 0.00387362057751]

Definition at line 141 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::approachquat = [0.0472463304373, 0.834783329681, 1.26495725566e-17, 0.548547697787]

Definition at line 143 of file test_interpolated_ik_motion_planner.py.

tuple test_interpolated_ik_motion_planner::collision_oper

Initial value:

CollisionOperation(object1 = "points", \
                                        object2 = CollisionOperation.COLLISION_SET_ALL, \
                                        operation = CollisionOperation.DISABLE)

Definition at line 180 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::grasppos = [0.360897399268, -0.0657663117783, 0.00387362057751]

Definition at line 144 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::graspquat = [0.0472463304373, 0.834783329681, 1.26495725566e-17, 0.548547697787]

Definition at line 145 of file test_interpolated_ik_motion_planner.py.

tuple test_interpolated_ik_motion_planner::ordered_collision_operations = OrderedCollisionOperations([collision_oper,])

Definition at line 183 of file test_interpolated_ik_motion_planner.py.

tuple test_interpolated_ik_motion_planner::sideapproachmat

Initial value:

numpy.array([[0., -1., 0., 0.],
                                   [1., 0., 0., 0.],
                                   [0., 0., 1., 0.],
                                   [0., 0., 0., 1.]])

Definition at line 113 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::sideapproachpos = [0.057853,-0.100731,0.439948]

Definition at line 118 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::sideapproachquat = [-0.203854, -0.127314, 0.655086, 0.71630]

Definition at line 119 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::start_angles = [0]

Definition at line 112 of file test_interpolated_ik_motion_planner.py.