Public Member Functions | Private Member Functions | Private Attributes
joint_torque_springs.JointSprings Class Reference

List of all members.

Public Member Functions

def __init__
def attach_springs
def clean_shutdown
def move_to_neutral

Private Member Functions

def _update_forces
def _update_parameters

Private Attributes

 _damping
 _dyn
 _init_state
 _limb
 _missed_cmds
 _pub_cuff_disable
 _rate
 _rs
 _springs
 _start_angles

Detailed Description

Virtual Joint Springs class for torque example.

@param limb: limb on which to run joint springs example
@param reconfig_server: dynamic reconfigure server

JointSprings class contains methods for the joint torque example allowing
moving the limb to a neutral location, entering torque mode, and attaching
virtual springs.

Definition at line 52 of file joint_torque_springs.py.


Constructor & Destructor Documentation

def joint_torque_springs.JointSprings.__init__ (   self,
  limb,
  reconfig_server 
)

Definition at line 63 of file joint_torque_springs.py.


Member Function Documentation

Calculates the current angular difference between the start position
and the current joint positions applying the joint torque spring forces
as defined on the dynamic reconfigure server.

Definition at line 97 of file joint_torque_springs.py.

Definition at line 90 of file joint_torque_springs.py.

Switches to joint torque mode and attached joint springs to current
joint positions.

Definition at line 130 of file joint_torque_springs.py.

Switches out of joint torque mode to exit cleanly

Definition at line 155 of file joint_torque_springs.py.

Moves the limb to neutral location.

Definition at line 124 of file joint_torque_springs.py.


Member Data Documentation

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.

Definition at line 63 of file joint_torque_springs.py.


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


baxter_examples
Author(s): Rethink Robotics Inc.
autogenerated on Sat Jun 8 2019 20:16:28