Classes
class	ArmPerceptionMonitor
	Monitors perception channels on the robot arms. More...
class	PeriodicLogger
	Periodically logs the output of a callback function by calling it at a certain rate and gathering up the results into a list. More...
class	PeriodicMonitor
	Periodically monitors the output of a callback function by calling it at a certain rate and compares it with a provided model to insure the value doesn't vary greatly within a degree of tolerance provided by the variance function. More...
Functions
def	accel_state_processor
	Processes the AccelerometerState message, returning an average of the sample values and the timestamp in nanoseconds.
def	generate_mean_grasp
	Generates model functions of all the perceptions over several identical trajectories.
def	joints_state_processor
	Callback for /joint_states topic.
def	log
def	pressure_state_processor
def	split_signals
Variables
tuple	apm = ArmPerceptionMonitor(0, 0.001)
list	joint_nm_list
list	l_jt_idx_list = [31, 32, 30, 34, 33, 35, 36]
list	means = models["accelerometer"]
tuple	models = apm.generate_models()
string	node_name = "arm_perception_monitor"
list	r_jt_idx_list = [17, 18, 16, 20, 19, 21, 22]
float	std_dev = 2.5
list	vars = models["accelerometer"]
list	xmmax = [m + np.sqrt(v) * std_dev for m, v in zip(xm, xv)]
list	xmmin = [m - np.sqrt(v) * std_dev for m, v in zip(xm, xv)]
tuple	xv = map(np.sqrt, xv)
list	ymmax = [m + np.sqrt(v) * std_dev for m, v in zip(ym, yv)]
list	ymmin = [m - np.sqrt(v) * std_dev for m, v in zip(ym, yv)]
tuple	yv = map(np.sqrt, yv)
list	zmmax = [m + np.sqrt(v) * std_dev for m, v in zip(zm, zv)]
list	zmmin = [m - np.sqrt(v) * std_dev for m, v in zip(zm, zv)]
tuple	zv = map(np.sqrt, zv)

Function Documentation

def kelsey_sandbox.perception_monitor.accel_state_processor ( msg )

Processes the AccelerometerState message, returning an average of the sample values and the timestamp in nanoseconds.

Parameters:

msg	AccelometerState message

Returns:: (t, (x, y, z))

Definition at line 37 of file src/kelsey_sandbox/perception_monitor.py.

def kelsey_sandbox.perception_monitor.generate_mean_grasp ( datasets )

Generates model functions of all the perceptions over several identical trajectories.

Each of the parameters is a dictionary directing perceptions to their parameters.

Parameters:

smooth_wind_dict	the window size of the smoothing function
var_wind_dict	window size of the variance function
var_smooth_wind_dict	window size of the smoothing function on the variance

Returns:: mean function, variance function

Definition at line 1184 of file src/kelsey_sandbox/perception_monitor.py.

def kelsey_sandbox.perception_monitor.joints_state_processor	(	msg,
		right_arm = `True`,
		angles_velocities_efforts = `0`
	)

Callback for /joint_states topic.

Updates current joint angles and efforts for the arms constantly

Parameters:

data	JointState message recieved from the /joint_states topic

Definition at line 60 of file src/kelsey_sandbox/perception_monitor.py.

def kelsey_sandbox.perception_monitor.log ( str )

Definition at line 28 of file src/kelsey_sandbox/perception_monitor.py.

def kelsey_sandbox.perception_monitor.pressure_state_processor	(	msg,
		right_finger_tip = `True`,
		indicies = `None`
	)

Definition at line 86 of file src/kelsey_sandbox/perception_monitor.py.

def kelsey_sandbox.perception_monitor.split_signals ( datasets )

Definition at line 1096 of file src/kelsey_sandbox/perception_monitor.py.

Variable Documentation

tuple kelsey_sandbox::perception_monitor::apm = ArmPerceptionMonitor(0, 0.001)

Definition at line 1225 of file src/kelsey_sandbox/perception_monitor.py.

list kelsey_sandbox::perception_monitor::joint_nm_list

Initial value:

00001 ['shoulder_pan', 'shoulder_lift', 'upper_arm_roll',
00002                  'elbow_flex', 'forearm_roll', 'wrist_flex',
00003                  'wrist_roll']

Definition at line 52 of file src/kelsey_sandbox/perception_monitor.py.

list kelsey_sandbox::perception_monitor::l_jt_idx_list = [31, 32, 30, 34, 33, 35, 36]

Definition at line 51 of file src/kelsey_sandbox/perception_monitor.py.

list kelsey_sandbox::perception_monitor::means = models["accelerometer"]

Definition at line 1234 of file src/kelsey_sandbox/perception_monitor.py.

tuple kelsey_sandbox::perception_monitor::models = apm.generate_models()

Definition at line 1232 of file src/kelsey_sandbox/perception_monitor.py.

string kelsey_sandbox::perception_monitor::node_name = "arm_perception_monitor"

Definition at line 26 of file src/kelsey_sandbox/perception_monitor.py.

list kelsey_sandbox::perception_monitor::r_jt_idx_list = [17, 18, 16, 20, 19, 21, 22]

Definition at line 50 of file src/kelsey_sandbox/perception_monitor.py.

float kelsey_sandbox::perception_monitor::std_dev = 2.5