fetch_arm_control.arm_control_marker.ArmControlMarker Class Reference

List of all members.

Public Member Functions
def	__init__
def	destroy
def	get_pose
def	reset
def	set_new_pose
def	update
Private Member Functions
def	_add_6dof_marker
def	_close_gripper_cb
def	_get_mesh_marker_color
def	_get_name
def	_is_hand_open
def	_is_reachable
def	_make_6dof_control
def	_make_gripper_marker
def	_marker_feedback_cb
def	_marker_moved
def	_move_pose_to_cb
def	_move_to_cb
def	_open_gripper_cb
Static Private Member Functions
def	_copy_pose
def	_get_matrix_from_pose
def	_get_pose_from_transform
def	_is_the_same
def	_make_mesh_marker
def	_offset_pose
def	_pose2array
Private Attributes
	_arm
	_current_pose
	_is_control_visible
	_lock
	_menu_control
	_menu_handler
	_name
	_pose
	_prev_is_reachable
Static Private Attributes
	_im_server = None

---

Detailed Description

Marker for controlling arm of robot.

Definition at line 50 of file arm_control_marker.py.

---

Constructor & Destructor Documentation

def fetch_arm_control.arm_control_marker.ArmControlMarker.__init__	(		self,
			arm
	)

Args:
    arm (Arm): Arm object for the robot's arm.

Definition at line 55 of file arm_control_marker.py.

---

Member Function Documentation

def fetch_arm_control.arm_control_marker.ArmControlMarker._add_6dof_marker	(		self,
			int_marker,
			is_fixed
	)		[private]

Adds a 6 DoF control marker to the interactive marker.

Args:
    int_marker (InteractiveMarker)
    is_fixed (bool): Looks like whether position is fixed (?).
Currently only passed as True.

Definition at line 472 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._close_gripper_cb	(		self,
			feedback
	)		[private]

Callback for closing gripper.

Args:
    feedback (InteractiveMarkerFeedback): Unused

Definition at line 350 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._copy_pose

(

pose

)

[static, private]

Copies pose msg

Args:
    pose (PoseStamped)
Returns:
    PoseStamped

Definition at line 225 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._get_matrix_from_pose

(

pose

)

[static, private]

Returns the transformation matrix for given pose.

Args:
    pose (PoseStamped)

Returns:
    Matrix3x3

Definition at line 187 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._get_mesh_marker_color

(

self

)

[private]

Gets the color for the mesh marker (thing that looks like a
gripper) for this step.

A simple implementation of this will return one color for
reachable poses, another for unreachable ones. Future
implementations may provide further visual cues.

Returns:
    ColorRGBA: The color for the gripper mesh for this step.

Definition at line 526 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._get_name

(

self

)

[private]

Generates the unique name for the marker.

Returns:
    str: A human-readable unique name for the marker.

Definition at line 456 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._get_pose_from_transform

(

transform

)

[static, private]

Returns pose for transformation matrix.

Args:
    transform (Matrix3x3)

Returns:
    PoseStamped

Definition at line 170 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._is_hand_open

(

self

)

[private]

Returns whether the gripper is open

Returns:
    bool

Definition at line 464 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._is_reachable

(

self

)

[private]

Checks and returns whether there is an IK solution for this
marker pose

Returns:
    bool: Whether this action step is reachable.

Definition at line 411 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._is_the_same	(		pose1,
			pose2,
			tol = 0.001
	)		[static, private]

Checks if poses are the same within tolerance

Args:
    pose1 (Pose)
    pose2 (Pose)
    tol (float, optional)
Returns:
    bool

Definition at line 259 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._make_6dof_control	(		self,
			name,
			orientation,
			is_move,
			is_fixed
	)		[private]

Creates and returns one component of the 6dof controller.

Args:
    name (str): Name for the control
    orientation (Quaternion): How the control should be
oriented.
    is_move (bool): Looks like whether the marker moves the
object (?). Currently passed as True for moving markers,
False for rotating ones.
    is_fixed (bool): Looks like whether position is fixed (?).
Currently always passed as True.

Returns:
    InteractiveMarkerControl

Definition at line 495 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._make_gripper_marker	(		self,
			control,
			is_hand_open = False
	)		[private]

Makes a gripper marker, adds it to control, returns control.

Args:
    control (InteractiveMarkerControl): IM Control we're using.
    is_hand_open (bool, optional): Whether the gripper is open.
Defaults to False (closed).

Returns:
    InteractiveMarkerControl: The passed control.

Definition at line 542 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._make_mesh_marker

(

color

)

[static, private]

Creates and returns a mesh marker.

Args:
    color (ColorRGBA)
Returns:
    Marker

Definition at line 277 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._marker_feedback_cb	(		self,
			feedback
	)		[private]

Callback for when an event occurs on the marker.

Args:
    feedback (InteractiveMarkerFeedback)

Definition at line 314 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._marker_moved

(

self

)

[private]

Returns whether marker has moved

Returns:
    bool

Definition at line 298 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._move_pose_to_cb	(		self,
			feedback
	)		[private]

Callback for moving gripper marker to current pose.

Args:
    feedback (InteractiveMarkerFeedback): Unused

Definition at line 402 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._move_to_cb	(		self,
			feedback
	)		[private]

Callback for when moving to a pose is requested.

Args:
    feedback (InteractiveMarkerFeedback): Unused

Definition at line 363 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._offset_pose	(		pose,
			constant = 1
	)		[static, private]

Offsets the world pose for visualization.

Args:
    pose (PoseStamped): The pose to offset.
    constant (int, optional): How much to scale the set offset
by (scales DEFAULT_OFFSET). Defaults to 1.

Returns:
    PoseStamped: The offset pose.

Definition at line 204 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._open_gripper_cb	(		self,
			feedback
	)		[private]

Callback for opening gripper.

Args:
    feedback (InteractiveMarkerFeedback): Unused

Definition at line 337 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker._pose2array

(

p

)

[static, private]

Converts pose to array

Args:
    p (PoseStamped)
Returns:
    numpy.array

Definition at line 245 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker.destroy

(

self

)

Removes marker from the world.

Definition at line 136 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker.get_pose

(

self

)

Returns the pose of the marker

Returns:
    Pose

Definition at line 154 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker.reset

(

self

)

Sets marker to current arm pose

Definition at line 132 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker.set_new_pose	(		self,
			new_pose,
			is_offset = False
	)

Changes the pose of the marker to new_pose.

Args:
    new_pose (PoseStamped)

Definition at line 141 of file arm_control_marker.py.

def fetch_arm_control.arm_control_marker.ArmControlMarker.update

(

self

)

Updates marker/arm loop

Definition at line 81 of file arm_control_marker.py.

---

Member Data Documentation

fetch_arm_control::arm_control_marker.ArmControlMarker::_arm [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_current_pose [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_im_server = None [static, private]

Definition at line 53 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_is_control_visible [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_lock [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_menu_control [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_menu_handler [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_name [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_pose [private]

Definition at line 58 of file arm_control_marker.py.

fetch_arm_control::arm_control_marker.ArmControlMarker::_prev_is_reachable [private]

Definition at line 58 of file arm_control_marker.py.

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

• arm_control_marker.py