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] |
def test_interpolated_ik_motion_planner.call_get_interpolated_ik_motion_plan | ( | start_pose, | |
goal_pose, | |||
start_angles, | |||
joint_names, | |||
pos_spacing = 0.01 , |
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rot_spacing = 0.1 , |
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consistent_angle = math.pi/9 , |
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collision_aware = 1 , |
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collision_check_resolution = 1 , |
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steps_before_abort = -1 , |
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num_steps = 0 , |
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ordered_collision_operations = None , |
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frame = 'katana_base_link' , |
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start_from_end = 0 , |
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max_joint_vels = [.2]*5 , |
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max_joint_accs = [.5]*5 |
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) |
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 , |
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consistent_angle = math.pi/9. , |
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collision_aware = 1 , |
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collision_check_resolution = 1 , |
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steps_before_abort = -1 , |
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num_steps = 0 , |
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ordered_collision_operations = None , |
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frame = 'katana_base_link' |
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) |
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.
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.
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.
00001 CollisionOperation(object1 = "points", \ 00002 object2 = CollisionOperation.COLLISION_SET_ALL, \ 00003 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.
00001 numpy.array([[0., -1., 0., 0.], 00002 [1., 0., 0., 0.], 00003 [0., 0., 1., 0.], 00004 [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.
Definition at line 112 of file test_interpolated_ik_motion_planner.py.