wave_arm Namespace Reference

Variables
tuple	acc = dynutils.compute_derivative( vel, dt )
tuple	alphas = np.linspace( 0, 2 * np.pi, n + 1 )
	client = l_jt_client)
	dt = time/n;
tuple	dur = rospy.Time()
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	l_jt_client = dynutils.init_jt_client(arm = 'l')
tuple	last_call = rospy.Time()
tuple	n = int(time * 200)
string	node_name = "wave_arm"
tuple	pos = np.asarray( trajectory )
tuple	pose
tuple	req = GetPositionIKRequest()
tuple	res = ik_service( req )
float	time = 10.0
float	time_from_start = 5.0
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 wave_arm::acc = dynutils.compute_derivative( vel, dt )

Definition at line 83 of file wave_arm.py.

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

Definition at line 39 of file wave_arm.py.

wave_arm::client = l_jt_client)

Definition at line 100 of file wave_arm.py.

wave_arm::dt = time/n;

Definition at line 38 of file wave_arm.py.

tuple wave_arm::dur = rospy.Time()

Definition at line 107 of file wave_arm.py.

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

Definition at line 32 of file wave_arm.py.

string wave_arm::ik_service_name = 'pr2_left_arm_kinematics/get_ik'

Definition at line 29 of file wave_arm.py.

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

Definition at line 28 of file wave_arm.py.

tuple wave_arm::joint_positions = []

Definition at line 53 of file wave_arm.py.

tuple wave_arm::l_jt_client = dynutils.init_jt_client(arm = 'l')

Definition at line 97 of file wave_arm.py.

tuple wave_arm::last_call = rospy.Time()

Definition at line 103 of file wave_arm.py.

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

Definition at line 37 of file wave_arm.py.

string wave_arm::node_name = "wave_arm"

Definition at line 22 of file wave_arm.py.

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

Definition at line 79 of file wave_arm.py.

tuple wave_arm::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 56 of file wave_arm.py.

tuple wave_arm::req = GetPositionIKRequest()

Definition at line 47 of file wave_arm.py.

tuple wave_arm::res = ik_service( req )

Definition at line 63 of file wave_arm.py.

float wave_arm::time = 10.0

Definition at line 36 of file wave_arm.py.

float wave_arm::time_from_start = 5.0

Definition at line 99 of file wave_arm.py.

list wave_arm::trajectory = []

Definition at line 46 of file wave_arm.py.

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

Definition at line 82 of file wave_arm.py.

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

Definition at line 41 of file wave_arm.py.

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

Definition at line 42 of file wave_arm.py.