constraint_aware_simple_arm_server.SimpleArmServer Class Reference

List of all members.

Public Member Functions
def	__init__
def	actionCb
def	executeTrajectory
def	motionToTrajectory
def	stateCb
def	validityCb
Public Attributes
	arm_solver_info
	dof
	root
	server
	servos
	timeout
	tip
Private Attributes
	_client
	_get_ik_proxy
	_get_ik_solver_info_proxy
	_gripper
	_listener
	_setPlanningDiff

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Detailed Description

    A class to move a 4/5/6DOF arm to a designated location (x,y,z), 
    respecting wrist rotation (roll) and gripper rotation (pitch). 

Definition at line 53 of file constraint_aware_simple_arm_server.py.

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Constructor & Destructor Documentation

def constraint_aware_simple_arm_server.SimpleArmServer.__init__

(

self

)

Definition at line 59 of file constraint_aware_simple_arm_server.py.

---

Member Function Documentation

def constraint_aware_simple_arm_server.SimpleArmServer.actionCb	(		self,
			req
	)

Given pose to move gripper to, do it. 

Definition at line 117 of file constraint_aware_simple_arm_server.py.

def constraint_aware_simple_arm_server.SimpleArmServer.executeTrajectory	(		self,
			traj
	)

Execute a trajectory. 

Definition at line 169 of file constraint_aware_simple_arm_server.py.

def constraint_aware_simple_arm_server.SimpleArmServer.motionToTrajectory	(		self,
			action,
			frame_id
	)

Convert an arm movement action into a trajectory. 

Definition at line 184 of file constraint_aware_simple_arm_server.py.

def constraint_aware_simple_arm_server.SimpleArmServer.stateCb	(		self,
			msg
	)

Update our known location of joints, for interpolation. 

Definition at line 110 of file constraint_aware_simple_arm_server.py.

def constraint_aware_simple_arm_server.SimpleArmServer.validityCb	(		self,
			req
	)

Check a trajectory for validity. 

Definition at line 101 of file constraint_aware_simple_arm_server.py.

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Member Data Documentation

constraint_aware_simple_arm_server.SimpleArmServer::_client [private]

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::_get_ik_proxy [private]

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::_get_ik_solver_info_proxy [private]

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::_gripper [private]

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::_listener [private]

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::_setPlanningDiff [private]

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::arm_solver_info

Definition at line 117 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::dof

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::root

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::server

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::servos

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::timeout

Definition at line 59 of file constraint_aware_simple_arm_server.py.

constraint_aware_simple_arm_server.SimpleArmServer::tip

Definition at line 59 of file constraint_aware_simple_arm_server.py.

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

• constraint_aware_simple_arm_server.py