fingertip_qualification.FingertipQualification Class Reference

Performs testing PR2 gripper tip sensors. More...

List of all members.

Public Member Functions
def	__init__
def	check_connected
	Make sure we have correct number of gripper sensors on each tip, and all are OK.
def	close_gripper
	Command close at desired force, wait for 4 sec.
def	increment_value
	Increment commanded force by increment.
def	open_gripper
	Command open, wait for 1 sec.
def	pressure_callback
	Callback for gripper pressure topic.
def	process_results
	Check pass/fail, write HTML result of all data, parameters.
def	record_increase
	Record sum of gripper tip pressure at the commanded force.
def	record_zero_val
	Record "zero" of gripper, when tips are open.
def	send_results
	Send test results to qualification system.
def	test_failed_service_call
	Record errors in analysis.
Public Attributes
	check_connect_only
	data_sent
	expect_no_connect
	fingertip_refresh
	force
	increment
	initial
	l_finger_tip
	num_increments
	num_sensors
	num_sensors_outside
	pub
	r_finger_tip
	result_service
	set_cmd
	starting_sum0
	starting_sum1
	x0
	x1
	x2
	x3
Private Member Functions
def	_check_diff
	At every point, check differences bwt tips.
def	_check_tol
	At every point, check abs dev from expected.
def	_write_data
	Write pressure at each datapoint for both tips.
def	_write_equation
	Write fit equation as HTML table.
def	_write_params
	Write test params as HTML table.
def	_write_tols
	Write tolerances as HTML table.
Private Attributes
	_connected_data
	_connection_data
	_diff_avg_abs_fail
	_diff_avg_abs_quest
	_diff_avg_fail
	_diff_avg_quest
	_diff_max_fail
	_diff_max_quest
	_expected
	_forces
	_mutex
	_pressure_topic
	_tip0
	_tip1
	_tol_avg_fail
	_tol_avg_quest
	_tol_max_fail
	_tol_max_quest

---

Detailed Description

Performs testing PR2 gripper tip sensors.

Definition at line 63 of file fingertip_qualification.py.

---

Constructor & Destructor Documentation

def fingertip_qualification.FingertipQualification.__init__

(

self

)

Definition at line 64 of file fingertip_qualification.py.

---

Member Function Documentation

def fingertip_qualification.FingertipQualification._check_diff

(

self

)

[private]

At every point, check differences bwt tips.

Definition at line 353 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification._check_tol

(

self

)

[private]

At every point, check abs dev from expected.

Definition at line 396 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification._write_data

(

self

)

[private]

Write pressure at each datapoint for both tips.

Definition at line 331 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification._write_equation

(

self

)

[private]

Write fit equation as HTML table.

Definition at line 287 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification._write_params

(

self

)

[private]

Write test params as HTML table.

Definition at line 300 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification._write_tols

(

self

)

[private]

Write tolerances as HTML table.

Definition at line 315 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.check_connected

(

self

)

Make sure we have correct number of gripper sensors on each tip, and all are OK.

Definition at line 161 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.close_gripper

(

self

)

Command close at desired force, wait for 4 sec.

Definition at line 155 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.increment_value

(

self

)

Increment commanded force by increment.

Definition at line 256 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.open_gripper

(

self

)

Command open, wait for 1 sec.

Definition at line 149 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.pressure_callback	(		self,
			data
	)

Callback for gripper pressure topic.

Definition at line 124 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.process_results

(

self

)

Check pass/fail, write HTML result of all data, parameters.

Definition at line 455 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.record_increase

(

self

)

Record sum of gripper tip pressure at the commanded force.

Definition at line 269 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.record_zero_val

(

self

)

Record "zero" of gripper, when tips are open.

Definition at line 260 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.send_results	(		self,
			test_result
	)

Send test results to qualification system.

Definition at line 140 of file fingertip_qualification.py.

def fingertip_qualification.FingertipQualification.test_failed_service_call	(		self,
			except_str = ''
	)

Record errors in analysis.

Definition at line 130 of file fingertip_qualification.py.

---

Member Data Documentation

fingertip_qualification.FingertipQualification::_connected_data [private]

Definition at line 161 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_connection_data [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_diff_avg_abs_fail [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_diff_avg_abs_quest [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_diff_avg_fail [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_diff_avg_quest [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_diff_max_fail [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_diff_max_quest [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_expected [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_forces [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_mutex [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_pressure_topic [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_tip0 [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_tip1 [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_tol_avg_fail [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_tol_avg_quest [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_tol_max_fail [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::_tol_max_quest [private]

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::check_connect_only

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::data_sent

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::expect_no_connect

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::fingertip_refresh

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::force

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::increment

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::initial

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::l_finger_tip

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::num_increments

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::num_sensors

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::num_sensors_outside

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::pub

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::r_finger_tip

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::result_service

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::set_cmd

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::starting_sum0

Definition at line 260 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::starting_sum1

Definition at line 260 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::x0

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::x1

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::x2

Definition at line 64 of file fingertip_qualification.py.

fingertip_qualification.FingertipQualification::x3

Definition at line 64 of file fingertip_qualification.py.

---

The documentation for this class was generated from the following file:

• fingertip_qualification.py