pr2_overhead_grasping::perception_monitor Namespace Reference

Classes
class	ArmPerceptionMonitor
	Monitors perception channels on the robot arms. More...
class	FastGaussConvolve
Functions
def	accel_state_processor
	Processes the AccelerometerState message, returning an average of the sample values and the timestamp in nanoseconds.
def	joints_state_processor
	Callback for /joint_states topic.
def	main
def	pressure_state_processor
def	pressure_state_sum_processor
Variables
list	joint_nm_list
list	l_jt_idx_list = [29, 30, 28, 32, 31, 33, 34]
list	r_jt_idx_list = [17, 18, 16, 20, 19, 21, 22]

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Function Documentation

def pr2_overhead_grasping.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 104 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.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 125 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.main

(

args

)

Definition at line 751 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.pressure_state_processor	(		msg,
			right_finger_tip = True,
			indicies = None
	)

Definition at line 151 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.pressure_state_sum_processor	(		msg,
			right_finger_tip = True,
			indicies = None
	)

Definition at line 162 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

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Variable Documentation

list pr2_overhead_grasping::perception_monitor::joint_nm_list

Initial value:

['shoulder_pan', 'shoulder_lift', 'upper_arm_roll',
                 'elbow_flex', 'forearm_roll', 'wrist_flex',
                 'wrist_roll']

Definition at line 117 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

list pr2_overhead_grasping::perception_monitor::l_jt_idx_list = [29, 30, 28, 32, 31, 33, 34]

Definition at line 116 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

list pr2_overhead_grasping::perception_monitor::r_jt_idx_list = [17, 18, 16, 20, 19, 21, 22]

Definition at line 115 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.