pr2_master Namespace Reference

Functions
def	mat2pose
def	tf2mat
Variables
tuple	listener = tf.TransformListener()
tuple	ps = PoseStamped()
tuple	pub = rospy.Publisher('pr2_master', PoseStamped)
tuple	qm = np.matrix(tr.quaternion_matrix(tr.quaternion_from_euler(0, math.pi, 0)))
tuple	r = rospy.Rate(60)
	tip_6 = tm*qm
	tip_world = w_T_6*tip_6
tuple	tm = np.matrix(tr.translation_matrix([-.134, 0, 0]))
tuple	w_T_6 = tf2mat(listener.lookupTransform('/world', '/omni1_link6', rospy.Time(0)))
tuple	wpub = rospy.Publisher('force_feedback', Wrench)
tuple	wr = Wrench()

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Function Documentation

def pr2_master.mat2pose

(

m

)

Definition at line 18 of file pr2_master.py.

def pr2_master.tf2mat

(

tf_trans

)

Definition at line 14 of file pr2_master.py.

---

Variable Documentation

tuple pr2_master::listener = tf.TransformListener()

Definition at line 36 of file pr2_master.py.

tuple pr2_master::ps = PoseStamped()

Definition at line 46 of file pr2_master.py.

tuple pr2_master::pub = rospy.Publisher('pr2_master', PoseStamped)

Definition at line 32 of file pr2_master.py.

tuple pr2_master::qm = np.matrix(tr.quaternion_matrix(tr.quaternion_from_euler(0, math.pi, 0)))

Definition at line 41 of file pr2_master.py.

tuple pr2_master::r = rospy.Rate(60)

Definition at line 34 of file pr2_master.py.

pr2_master::tip_6 = tm*qm

Definition at line 43 of file pr2_master.py.

pr2_master::tip_world = w_T_6*tip_6

Definition at line 44 of file pr2_master.py.

tuple pr2_master::tm = np.matrix(tr.translation_matrix([-.134, 0, 0]))

Definition at line 42 of file pr2_master.py.

tuple pr2_master::w_T_6 = tf2mat(listener.lookupTransform('/world', '/omni1_link6', rospy.Time(0)))

Definition at line 40 of file pr2_master.py.

tuple pr2_master::wpub = rospy.Publisher('force_feedback', Wrench)

Definition at line 33 of file pr2_master.py.

tuple pr2_master::wr = Wrench()

Definition at line 61 of file pr2_master.py.