pykdl_utils.joint_kinematics.JointKinematics Class Reference

Kinematics class which subscribes to the /joint_states topic, recording the current joint states for the kinematic chain designated. More...

Inheritance diagram for pykdl_utils.joint_kinematics.JointKinematics:

List of all members.

Public Member Functions
def	__init__
	Constructor.
def	get_joint_angles
	Returns the current joint angle positions.
def	get_joint_efforts
	Returns the current joint efforts.
def	get_joint_velocities
	Returns the current joint velocities.
def	wait_for_joint_angles
	Wait until we have found the current joint angles.
Private Member Functions
def	_joint_state_cb
	Joint angles listener callback.
Private Attributes
	_joint_angles
	_joint_efforts
	_joint_state_inds
	_joint_velocities

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Detailed Description

Kinematics class which subscribes to the /joint_states topic, recording the current joint states for the kinematic chain designated.

Definition at line 123 of file joint_kinematics.py.

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Constructor & Destructor Documentation

def pykdl_utils.joint_kinematics.JointKinematics.__init__	(		self,
			urdf,
			base_link,
			end_link,
			kdl_tree = None,
			timeout = 1.
	)

Constructor.

Parameters:

urdf	URDF object of robot.
base_link	Name of the root link of the kinematic chain.
end_link	Name of the end link of the kinematic chain.
kdl_tree	Optional KDL.Tree object to use. If None, one will be generated from the URDF.
timeout	Time in seconds to wait for the /joint_states topic.

Definition at line 132 of file joint_kinematics.py.

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Member Function Documentation

def pykdl_utils.joint_kinematics.JointKinematics._joint_state_cb	(		self,
			msg
	)		[private]

Joint angles listener callback.

Definition at line 146 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematics.get_joint_angles	(		self,
			wrapped = False
	)

Returns the current joint angle positions.

Parameters:

wrapped

If False returns the raw encoded positions, if True returns the angles with the forearm and wrist roll in the range -pi to pi

Definition at line 175 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematics.get_joint_efforts

(

self

)

Returns the current joint efforts.

Definition at line 194 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematics.get_joint_velocities

(

self

)

Returns the current joint velocities.

Definition at line 186 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematics.wait_for_joint_angles	(		self,
			timeout = 1.
	)

Wait until we have found the current joint angles.

Parameters:

timeout

Time at which we break if we haven't recieved the angles.

Definition at line 158 of file joint_kinematics.py.

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Member Data Documentation

pykdl_utils::joint_kinematics.JointKinematics::_joint_angles [private]

Definition at line 132 of file joint_kinematics.py.

pykdl_utils::joint_kinematics.JointKinematics::_joint_efforts [private]

Definition at line 132 of file joint_kinematics.py.

pykdl_utils::joint_kinematics.JointKinematics::_joint_state_inds [private]

Definition at line 132 of file joint_kinematics.py.

pykdl_utils::joint_kinematics.JointKinematics::_joint_velocities [private]

Definition at line 132 of file joint_kinematics.py.

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

• joint_kinematics.py