Public Member Functions
def	__init__
def	add_primitive
def	build_from_json
def	clear
def	decrease_id
def	delete_last_primitive
def	delete_primitive
def	delete_primitive_marker
def	end_execution
def	execute_primitive
def	get_action_id
def	get_json
def	get_marker_visibility
def	get_name
def	get_primitive
def	get_primitive_names
def	get_primitive_positions_orientations
def	get_primitives
def	get_primitives_editable
def	get_ref_frame_names
def	get_status
def	head_busy
def	initialize_viz
def	is_object_required
def	make_primitive_marker
def	n_primitives
def	reset_viz
def	select_primitive
def	set_action_id
def	set_name
def	set_status
def	start_execution
def	stop_execution
def	switch_primitive_order
def	update_objects
def	update_primitive_pose
def	update_viz
Private Member Functions
def	_check_pre_conditions
def	_execute_action
def	_is_action_reachable
def	_loop_through_primitives
def	_primitive_pose_change
def	_update_links
def	_update_markers
Static Private Member Functions
def	_get_link
Private Attributes
	_action_change_cb
	_action_id
	_external_ee_link
	_grasp_feedback_topic
	_grasp_suggestion_service
	_im_server
	_link_markers
	_lock
	_name
	_preempt
	_primitive_click_cb
	_primitive_counter
	_robot
	_seq
	_status
	_status_publisher
	_tf_listener
Static Private Attributes
	_marker_publisher = None

Detailed Description

Holds information for one action.

Definition at line 46 of file action.py.

Constructor & Destructor Documentation

def fetch_pbd_interaction.action.Action.__init__	(	self,
		robot,
		tf_listener,
		im_server,
		primitive_click_cb,
		action_change_cb,
		action_id = `None`,
		grasp_suggestion_service = `None`,
		grasp_feedback_topic = `None`,
		external_ee_link = `None`
	)

Args:
    robot (Robot) : interface to lower level robot functionality
    tf_listener (TransformListener)
    im_server (InteractiveMarkerSerever)
    primitive_click_cb (function(int)): The function to call when a
primitive is clicked on (normally in the GUI). The function
should take the number of the primitive
    action_id (int, optional): The index of this action.

Definition at line 54 of file action.py.

Member Function Documentation

def fetch_pbd_interaction.action.Action._check_pre_conditions ( self ) [private]

Loop through primitives and make sure all of their 
preconditions are met

Returns:
    bool

Definition at line 765 of file action.py.

def fetch_pbd_interaction.action.Action._execute_action ( self ) [private]

Function to replay the demonstrated action.

Definition at line 732 of file action.py.

def fetch_pbd_interaction.action.Action._get_link	(	primitive0,
		primitive1,
		marker_id
	)	`[static, private]`

Returns a marker representing a link b/w two consecutive
primitives (both must already exist).

Args:
    primitive0 (Primitive)
    primitive1 (Primitive)
    marker_id (int) : id for link marker between to primitives

Returns:
    Marker|None

Definition at line 694 of file action.py.

def fetch_pbd_interaction.action.Action._is_action_reachable ( self ) [private]

Make sure that action is possible to execute entire action

Definition at line 798 of file action.py.

def fetch_pbd_interaction.action.Action._loop_through_primitives ( self ) [private]

Goes through the primitives of the current action and moves to
each.

Definition at line 810 of file action.py.

def fetch_pbd_interaction.action.Action._primitive_pose_change ( self ) [private]

Update links when primitive pose changes

Definition at line 725 of file action.py.

def fetch_pbd_interaction.action.Action._update_links ( self ) [private]

Updates the visualized links b/w action primitives.

Definition at line 870 of file action.py.

def fetch_pbd_interaction.action.Action._update_markers ( self ) [private]

Updates the markers after a change.

Definition at line 864 of file action.py.

def fetch_pbd_interaction.action.Action.add_primitive	(	self,
		primitive,
		add_marker = `True`,
		add_name = `True`
	)

Add primitive to action.

Args:
    primitive (Primitive)
    add_marker (bool)
    add_name (bool)

Definition at line 264 of file action.py.

def fetch_pbd_interaction.action.Action.build_from_json	(	self,
		json
	)

Fills out action using information using json from db

Args:
    dict : json/dict retrieved from couchdb

Definition at line 180 of file action.py.

def fetch_pbd_interaction.action.Action.clear ( self )

Clears the action.

Definition at line 590 of file action.py.

def fetch_pbd_interaction.action.Action.decrease_id ( self )

Decrement the action's id by one

Definition at line 598 of file action.py.

def fetch_pbd_interaction.action.Action.delete_last_primitive ( self )

Deletes the last primitive of the action.

Definition at line 436 of file action.py.

def fetch_pbd_interaction.action.Action.delete_primitive	(	self,
		to_delete
	)

Deletes a primitive from the action.

NOTE(mbforbes): The lock should be acquired before calling this
method.

Args:
    to_delete (int): The index of the primitive to delete.

Definition at line 640 of file action.py.

def fetch_pbd_interaction.action.Action.delete_primitive_marker	(	self,
		primitive_number
	)

Delete marker with certain index

Args:
    primitive_number (int)

Definition at line 345 of file action.py.

def fetch_pbd_interaction.action.Action.end_execution ( self )

Indicate that execution status can reset to
    ExecutionStatus.NOT_EXECUTING

Definition at line 241 of file action.py.

def fetch_pbd_interaction.action.Action.execute_primitive	(	self,
		to_execute
	)

Execute specified primitive

Args:
    to_execute (int)

Definition at line 680 of file action.py.

def fetch_pbd_interaction.action.Action.get_action_id ( self )

Returns action_id

Returns:
    int

Definition at line 132 of file action.py.

def fetch_pbd_interaction.action.Action.get_json ( self )

Return json for this action for saving to db

Returns:
    dict

Definition at line 164 of file action.py.

def fetch_pbd_interaction.action.Action.get_marker_visibility ( self )

Returns visibility status of primitive markers

Returns:
    [bool]

Definition at line 370 of file action.py.

def fetch_pbd_interaction.action.Action.get_name ( self )

Returns human-readable name for action

Returns
    (string)

Definition at line 156 of file action.py.

def fetch_pbd_interaction.action.Action.get_primitive	(	self,
		index
	)

Returns primitive of the action based on index.

Args:
    index (int): Index (0-based) of primitive to return.

Returns:
    Primitive|None: Returns None if no such primitive exists.

Definition at line 557 of file action.py.

def fetch_pbd_interaction.action.Action.get_primitive_names ( self )

Returns the names of primitives.

Returns:
    [str]

Definition at line 472 of file action.py.

def fetch_pbd_interaction.action.Action.get_primitive_positions_orientations ( self )

Returns the positions and orientations of primitives
Returns:
    Point[], OrientationRPY[]

Definition at line 485 of file action.py.

def fetch_pbd_interaction.action.Action.get_primitives ( self )

Return list of primitives

Returns:
    [Primitive]

Definition at line 546 of file action.py.

def fetch_pbd_interaction.action.Action.get_primitives_editable ( self )

Returns list of whether primitive poses are editable

Returns:
    [bool]

Definition at line 507 of file action.py.

def fetch_pbd_interaction.action.Action.get_ref_frame_names ( self )

Returns the names of the reference frame objects for all
action primitives.

Returns:
    [str]

Definition at line 458 of file action.py.

def fetch_pbd_interaction.action.Action.get_status ( self )

Return execution status of action

Returns:
    ExecutionStatus.EXECUTING|NOT_EXECUTING|...etc

Definition at line 247 of file action.py.

def fetch_pbd_interaction.action.Action.head_busy ( self )

Returns true if head is busy

Returns:
    bool

Definition at line 121 of file action.py.

def fetch_pbd_interaction.action.Action.initialize_viz ( self )

Initialize visualization.

Definition at line 411 of file action.py.

def fetch_pbd_interaction.action.Action.is_object_required ( self )

Returns whether this action has any primitives that are relative
to objects in the world (instead of absolute).

Returns:
    bool

Definition at line 441 of file action.py.

def fetch_pbd_interaction.action.Action.make_primitive_marker	(	self,
		primitive_number
	)

Show marker with certain index

Args:
    primitive_number (int)

Definition at line 356 of file action.py.

def fetch_pbd_interaction.action.Action.n_primitives ( self )

Returns the number of primitives in this action.

Returns:
    int

Definition at line 316 of file action.py.

def fetch_pbd_interaction.action.Action.reset_viz ( self )

Removes all visualization relating to this action.

Definition at line 324 of file action.py.

def fetch_pbd_interaction.action.Action.select_primitive	(	self,
		primitive_number,
		is_selected
	)

Callback for when one of the markers is clicked.
Selects clicked marker and unselects others.

Args:
    primitive_number (int)
    is_selected(bool): Whether the marker was
selected (True) or de-selected (False).

Definition at line 381 of file action.py.

def fetch_pbd_interaction.action.Action.set_action_id	(	self,
		action_id
	)

Returns action_id

Args:
    action_id (int)

Definition at line 140 of file action.py.

def fetch_pbd_interaction.action.Action.set_name	(	self,
		name
	)

Sets human-readable name for action

Args:
    name (string)

Definition at line 148 of file action.py.

def fetch_pbd_interaction.action.Action.set_status	(	self,
		status
	)

Set execution status of action

Args:
    status (ExecutionStatus.EXECUTING|NOT_EXECUTING|...etc)

Definition at line 255 of file action.py.

def fetch_pbd_interaction.action.Action.start_execution ( self )

Starts execution of action.

This method spawns a new thread.

Args:
    z_offset (float): Amount to add to z-values of pose
positions.

Definition at line 218 of file action.py.

def fetch_pbd_interaction.action.Action.stop_execution ( self )

Indicate that user wants to preempt action execution

Definition at line 237 of file action.py.

def fetch_pbd_interaction.action.Action.switch_primitive_order	(	self,
		old_index,
		new_index
	)

Change the order of primitives in action

Args:
    old_index (int)
    new_index (int)

Definition at line 602 of file action.py.

def fetch_pbd_interaction.action.Action.update_objects ( self )

For each primitive, updates the reference frames based on
the locations of objects in the world

Definition at line 301 of file action.py.

def fetch_pbd_interaction.action.Action.update_primitive_pose	(	self,
		primitive_number,
		position,
		orientation
	)

Update pose of primitive given by primitive_number

Args:
    primitive_number (int)
    position (Point)
    orientation (OrientationRPY)

Definition at line 520 of file action.py.

def fetch_pbd_interaction.action.Action.update_viz ( self )

Updates the visualization of the action.

Definition at line 580 of file action.py.