src::tidyup_arm_services::find_free_space Namespace Reference

Functions
def	_add
def	_get_feasible_locs
	Internal.
def	_remove_feasible_locs
def	_tuplize
def	free_spots
def	free_spots_from_dimensions
def	free_spots_on_table
Variables
string	__docformat__ = "restructuredtext en"
tuple	marray = MarkerArray()
int	NUM_TRIES = 100
tuple	vpub = rospy.Publisher('free_space_markers', MarkerArray)
	External API.

---

Function Documentation

def src.tidyup_arm_services.find_free_space._add	(		v1,
			v2
	)		[private]

Definition at line 281 of file find_free_space.py.

def src.tidyup_arm_services.find_free_space._get_feasible_locs	(		table,
			o,
			res
	)		[private]

Internal.

Definition at line 260 of file find_free_space.py.

def src.tidyup_arm_services.find_free_space._remove_feasible_locs	(		locs,
			o,
			bottom_left,
			top_right,
			res
	)		[private]

Definition at line 268 of file find_free_space.py.

def src.tidyup_arm_services.find_free_space._tuplize

(

vec2d

)

[private]

Definition at line 284 of file find_free_space.py.

def src.tidyup_arm_services.find_free_space.free_spots	(		table,
			objects,
			res = 0.1,
			forbidden = []
	)

Find free spots on a table

@param table: Dimensions of table
@type table: Tuple (x, y)
@param objects: Object dimensions
@type objects: List of tuples of form (x, y)
@param res: Resolution
@type res: Positive float 
@param forbidden: Forbidden rectangles
@type forbidden: List of tuples ((x0, y0), (x_size, y_size)) where (x0, y0) is the bottom left.
@return: list of positions of (lower left corners of) objects, or None

Definition at line 216 of file find_free_space.py.

def src.tidyup_arm_services.find_free_space.free_spots_from_dimensions	(		table,
			object_dims,
			blocking_objs,
			res = 0.1,
			blocking_padding = 0.05
	)

Currently works only with a single shape

Assumes table is in xy plane

Definition at line 80 of file find_free_space.py.

def src.tidyup_arm_services.find_free_space.free_spots_on_table	(		table,
			obj,
			orientation,
			blocking_objs,
			res = 0.1,
			orientation_count = 10,
			blocking_padding = 0.05
	)

Definition at line 35 of file find_free_space.py.

---

Variable Documentation

string src::tidyup_arm_services::find_free_space::__docformat__ = "restructuredtext en"

Definition at line 9 of file find_free_space.py.

tuple src::tidyup_arm_services::find_free_space::marray = MarkerArray()

Definition at line 33 of file find_free_space.py.

int src::tidyup_arm_services::find_free_space::NUM_TRIES = 100

Definition at line 26 of file find_free_space.py.

tuple src::tidyup_arm_services::find_free_space::vpub = rospy.Publisher('free_space_markers', MarkerArray)

External API.

Definition at line 32 of file find_free_space.py.