Inheritance diagram for pykdl_utils.joint_kinematics.JointKinematicsWait:

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_state
def	get_joint_velocities
	Returns the current joint velocities.

Detailed Description

Definition at line 202 of file joint_kinematics.py.

Constructor & Destructor Documentation

def pykdl_utils.joint_kinematics.JointKinematicsWait.__init__	(	self,
		urdf,
		base_link,
		end_link,
		kdl_tree = `None`
	)

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 211 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_angles	(	self,
		wrapped = `False`,
		timeout = `1.0`
	)

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 228 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_efforts	(	self,
		timeout = `1.0`
	)

Returns the current joint efforts.

Definition at line 260 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_state	(	self,
		timeout = `1.0`
	)

Definition at line 214 of file joint_kinematics.py.

def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_velocities	(	self,
		timeout = `1.0`
	)

Returns the current joint velocities.

Definition at line 244 of file joint_kinematics.py.

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