hironx_ros_bridge: acceptancetest

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00001 # -*- coding: utf-8 -*-
00002 
00003 # Software License Agreement (BSD License)
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00005 # Copyright (c) 2014, TORK (Tokyo Opensource Robotics Kyokai Association)
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00034 
00035 import time
00036 
00037 from hironx_ros_bridge.constant import Constant
00038 from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest
00039 
00040 
00041 class AcceptanceTestRTM(AbstAcceptanceTest):
00042 
00043     def __init__(self, robot_client):
00044         '''
00045         @type robot_client: hironx_ros_bridge.hironx_client.HIRONX
00046         '''
00047         self._robotclient = robot_client
00048 
00049     def go_initpos(self):
00050         self._robotclient.goInitial()
00051 
00052     def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None,
00053                          task_duration=7.0, do_wait=True):
00054         '''
00055         @see: AbstAcceptanceTest.set_joint_angles
00056         '''
00057         print("== RTM; {} ==".format(msg_tasktitle))
00058         self._robotclient.setJointAnglesOfGroup(
00059                          joint_group, joint_angles, task_duration, do_wait)
00060 
00061     def set_pose(self, joint_group, position, rpy, msg_tasktitle,
00062                  task_duration=7.0, do_wait=True, ref_frame_name=None):
00063 
00064         print("== RTM; {} ==".format(msg_tasktitle))
00065         self._robotclient.setTargetPose(joint_group, position, rpy,
00066                                         task_duration, ref_frame_name)
00067         if do_wait:
00068             self._robotclient.waitInterpolationOfGroup(joint_group)
00069 
00070     def set_pose_relative(
00071                         self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
00072                         msg_tasktitle=None, task_duration=7.0, do_wait=True):
00073         if joint_group == Constant.GRNAME_LEFT_ARM:
00074             eef = 'LARM_JOINT5'
00075         elif joint_group == Constant.GRNAME_RIGHT_ARM:
00076             eef = 'RARM_JOINT5'
00077 
00078         print("== RTM; {} ==".format(msg_tasktitle))
00079         self._robotclient.setTargetPoseRelative(
00080                                     joint_group, eef, dx, dy, dz, dr, dp, dw,
00081                                     task_duration, do_wait)