figure8 Namespace Reference

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 = "figure_8"
tuple	pos = np.asarray( trajectory )
tuple	pose
tuple	req = GetPositionIKRequest()
tuple	res = ik_service( req )
tuple	t = np.cumsum( [dt] * n )
float	time = 10.0
list	trajectory = []
tuple	vel = dynutils.compute_derivative( pos, dt )
tuple	ys = np.cos( alphas )
tuple	zs = -np.sin( 2 * alphas )

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Variable Documentation

tuple figure8::acc = dynutils.compute_derivative( vel, dt )

Definition at line 82 of file figure8.py.

list figure8::alphas = np.linspace( 0, 2 * np.pi, n + 1 )

Definition at line 37 of file figure8.py.

figure8::dt = time/n;

Definition at line 36 of file figure8.py.

tuple figure8::ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK )

Definition at line 30 of file figure8.py.

string figure8::ik_service_name = 'pr2_left_arm_kinematics/get_ik'

Definition at line 27 of file figure8.py.

tuple figure8::joint_names = dynutils.get_joint_names( 'l_arm_controller' )

Definition at line 26 of file figure8.py.

tuple figure8::joint_positions = []

Definition at line 51 of file figure8.py.

tuple figure8::n = int(time * 200)

Definition at line 35 of file figure8.py.

string figure8::node_name = "figure_8"

Definition at line 21 of file figure8.py.

tuple figure8::pos = np.asarray( trajectory )

Definition at line 78 of file figure8.py.

tuple figure8::pose

Initial value:

Pose( position = Point( 0.6, 0.20 + y, 0.0 + z ), 
                     orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )

Definition at line 54 of file figure8.py.

tuple figure8::req = GetPositionIKRequest()

Definition at line 45 of file figure8.py.

tuple figure8::res = ik_service( req )

Definition at line 61 of file figure8.py.

tuple figure8::t = np.cumsum( [dt] * n )

Definition at line 77 of file figure8.py.

float figure8::time = 10.0

Definition at line 34 of file figure8.py.

list figure8::trajectory = []

Definition at line 44 of file figure8.py.

tuple figure8::vel = dynutils.compute_derivative( pos, dt )

Definition at line 81 of file figure8.py.

tuple figure8::ys = np.cos( alphas )

Definition at line 39 of file figure8.py.

tuple figure8::zs = -np.sin( 2 * alphas )

Definition at line 40 of file figure8.py.