Variables | |
| tuple | acc = dynutils.compute_derivative( vel, dt ) |
| tuple | alphas = np.linspace( 0, 2 * np.pi, n + 1 ) |
| dt = time/n; | |
| tuple | ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
| string | ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
| tuple | joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
| list | joint_positions = [] |
| tuple | n = int(time * 200) |
| string | node_name = "circle_node" |
| tuple | pos = np.asarray( trajectory ) |
| tuple | pose |
| tuple | req = GetPositionIKRequest() |
| tuple | res = ik_service( req ) |
| tuple | t = np.cumsum( [dt] * n ) |
| float | time = 5.0 |
| list | trajectory = [] |
| tuple | vel = dynutils.compute_derivative( pos, dt ) |
| tuple | ys = np.cos( alphas ) |
| tuple | zs = -np.sin( alphas ) |
| tuple circle::acc = dynutils.compute_derivative( vel, dt ) |
| list circle::alphas = np.linspace( 0, 2 * np.pi, n + 1 ) |
| circle::dt = time/n; |
| tuple circle::ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
| string circle::ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
| tuple circle::joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
| tuple circle::joint_positions = [] |
| string circle::node_name = "circle_node" |
| tuple circle::pos = np.asarray( trajectory ) |
| tuple circle::pose |
| tuple circle::req = GetPositionIKRequest() |
| tuple circle::res = ik_service( req ) |
| float circle::time = 5.0 |
| list circle::trajectory = [] |
| tuple circle::vel = dynutils.compute_derivative( pos, dt ) |
| tuple circle::ys = np.cos( alphas ) |
| tuple circle::zs = -np.sin( alphas ) |