Detailed Description
Defines behaviour for ArmTarget primitive. This is for primitives where the arm moves to a single pose.
Definition at line 94 of file arm_target.py.
Constructor & Destructor Documentation
| def fetch_pbd_interaction.arm_target.ArmTarget.__init__ | ( | self, | |
| robot, | |||
| tf_listener, | |||
| im_server, | |||
arm_state = ArmState(), |
|||
gripper_state = None, |
|||
number = None |
|||
| ) |
Args:
robot (Robot) : interface to lower level robot functionality
tf_listener (TransformListener)
im_server (InteractiveMarkerSerever)
arm_state (ArmState, optional)
gripper_state (GripperState.OPEN|GripperState.CLOSED, optional)
number (int, optional): The number of this primitive in the
action sequence
Definition at line 101 of file arm_target.py.
Member Function Documentation
| def fetch_pbd_interaction.arm_target.ArmTarget._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 1071 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._change_ref_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when a reference frame change is requested.
Args:
feedback (InteractiveMarkerFeedback (?))
Definition at line 1310 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._change_target_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when a reference frame change is requested.
Args:
feedback (InteractiveMarkerFeedback (?))
Definition at line 1290 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._convert_ref_frame | ( | self, | |
| new_landmark | |||
| ) | [private] |
Convert arm_state to be in a different reference frame
Args:
new_landmark (Landmark)
Returns:
ArmState
Definition at line 949 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._delete_primitive_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when delete is requested.
Args:
feedback (InteractiveMarkerFeedback): Unused
Definition at line 1261 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._diff | ( | float1, | |
| float2, | |||
| thresh | |||
| ) | [static, private] |
Return true if floats are different by a threshold
Args:
float1 (float)
float2 (float)
thresh (float)
Definition at line 686 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_json_from_arm_state | ( | arm_state | ) | [static, private] |
Return json containing data of arm_state
Args:
arm_state (ArmState)
Returns:
json (dict)
Definition at line 572 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_json_from_landmark | ( | landmark | ) | [static, private] |
Return json containing data of landmark
Args:
landmark (Landmark)
Returns:
json (dict)
Definition at line 628 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_json_from_pose | ( | pose | ) | [static, private] |
Return json containing data of pose
Args:
pose (Pose)
Returns:
json (dict)
Definition at line 605 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_json_from_pose_stamped | ( | pose_stamped | ) | [static, private] |
Return json containing data of pose_stamped
Args:
pose_stamped (PoseStamped)
Returns:
json (dict)
Definition at line 590 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_marker_pose | ( | self | ) | [private] |
Returns the pose of the primitive.
Returns:
Pose
Definition at line 988 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_matrix_from_pose | ( | pose | ) | [static, private] |
Returns the transformation matrix for given pose.
Args:
pose (PoseStamped)
Returns:
Matrix3x3
Definition at line 723 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_menu_ref | ( | self, | |
target = False |
|||
| ) | [private] |
Returns the name string for the reference frame object of the
primitive.
Returns:
str|None: Under all normal circumstances, returns the str
reference frame name. Returns None in error.
Definition at line 1360 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_menu_ref_id | ( | self, | |
| ref_name | |||
| ) | [private] |
Returns the unique menu id from its name or None if the
object is not found.
Args:
ref_name (str)
Returns:
int (?)|None
Definition at line 838 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_menu_ref_name | ( | self, | |
| menu_id | |||
| ) | [private] |
Returns the menu name from its unique menu id.
Args:
menu_id (int)
Returns:
str
Definition at line 882 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_mesh_marker_color | ( | self | ) | [private] |
Gets the color for the mesh marker (thing that looks like a
gripper) for this primitive.
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 arm target.
Definition at line 1184 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_pose_from_json | ( | json | ) | [static, private] |
Return Pose msg from json
Args:
json (dict)
Returns:
Pose
Definition at line 664 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_pose_from_transform | ( | transform | ) | [static, private] |
Returns pose for transformation matrix.
Args:
transform (Matrix3x3): (I think this is the correct type.
See ArmTarget as a reference for how to use.)
Returns:
Pose
Definition at line 740 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._get_pose_stamped_from_json | ( | json | ) | [static, private] |
Return PoseStamped msg from json
Args:
json (dict)
Returns:
PoseStamped
Definition at line 648 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._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 hte 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 1093 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._make_gripper_marker | ( | self, | |
| control, | |||
gripper_state = GripperState.CLOSED |
|||
| ) | [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 1200 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._make_mesh_marker | ( | color | ) | [static, private] |
Creates and returns a mesh marker.
Returns:
Marker
Definition at line 758 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._marker_feedback_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when an event occurs on the marker.
Args:
feedback (InteractiveMarkerFeedback)
Definition at line 1330 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._move_pose_to_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when a pose change to current is requested.
Args:
feedback (InteractiveMarkerFeedback): Unused
Definition at line 1277 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._move_to_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when moving to a pose is requested.
Args:
feedback (InteractiveMarkerFeedback): Unused
Definition at line 1269 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._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 ArmTarget._offset). Defaults to 1.
Returns:
PoseStamped: The offset pose.
Definition at line 700 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._pose_changed | ( | self, | |
| new_pose, | |||
| frame_id | |||
| ) | [private] |
Check if marker pose has changed
Args:
pose (Pose)
Definition at line 1142 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._set_new_pose | ( | self, | |
| new_pose, | |||
| frame_id | |||
| ) | [private] |
Changes the pose of the primitive to new_pose.
Args:
new_pose (Pose)
Definition at line 1124 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._set_ref | ( | self, | |
| new_ref | |||
| ) | [private] |
Changes the reference frame of the primitive to
new_ref_name.
Args:
new_ref_name
Definition at line 928 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._set_target | ( | self, | |
| new_ref | |||
| ) | [private] |
Changes the reference frame of the primitive to
new_ref_name.
Args:
new_ref_name
Definition at line 912 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._update_menu | ( | self | ) | [private] |
Recreates the menu when something has changed.
Definition at line 777 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget._update_viz_core | ( | self, | |
check_reachable = True |
|||
| ) | [private] |
Updates visualization after a change.
Args:
check_reachable (bool) : Check reachability of pose before drawing marker
Definition at line 1014 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.add_marker_callbacks | ( | self, | |
| click_cb, | |||
| delete_cb, | |||
| pose_change_cb, | |||
| action_change_cb | |||
| ) |
Adds marker to world
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 227 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.build_from_json | ( | self, | |
| json | |||
| ) |
Fills out ArmTarget using json from db
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 162 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.change_ref_frame | ( | self, | |
| ref_type, | |||
| landmark | |||
| ) |
Sets new reference frame for primitive Args:
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 288 of file arm_target.py.
Currently just a placeholder
Meant to return conditions that need to be met after a
primitive is executed in order for execution to be a success.
This could be something like "object must be 0.1m above surface"
Returns:
None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 215 of file arm_target.py.
Currently just a placeholder
Meant to return conditions that need to be met before a
primitive can be executed. This could be something like
"There should only be one object" or something.
Returns:
None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 197 of file arm_target.py.
Reduces the number of the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 513 of file arm_target.py.
Execute this primitive
Returns
bool : Success of execution
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 426 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.get_absolute_marker_pose | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute pose of the primitive marker.
Args:
use_final (bool, optional). Unused
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 479 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.get_absolute_marker_position | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute position of the primitive marker.
Args:
use_final (bool, optional) : Unused
True.
Returns:
Point
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 497 of file arm_target.py.
Returns the absolute pose of the primitive.
Args:
None
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 461 of file arm_target.py.
Returns json representation of primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 150 of file arm_target.py.
Returns the display name for the primitive.
Returns:
str: A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 525 of file arm_target.py.
Returns number of primitive
Returns:
int
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 533 of file arm_target.py.
Returns what number this primitive is in the sequence
Returns:
int
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 395 of file arm_target.py.
Returns the name string for the reference frame object of the
primitive.
Returns:
str|None: Under all normal circumstances, returns the str
reference frame name. Returns None in error.
Definition at line 306 of file arm_target.py.
Return reference type of primitive
Returns:
ArmState.ROBOT_BASE, etc
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 559 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.get_relative_pose | ( | self, | |
use_final = True |
|||
| ) |
Returns the relative pose of the primitive.
Args:
use_final (bool, optional) : Unused
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 451 of file arm_target.py.
Return true if head busy
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 438 of file arm_target.py.
Removes marker from the world.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 253 of file arm_target.py.
Check if the marker control is visible
Returns
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 355 of file arm_target.py.
Check if this primitive requires an object to be present
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 411 of file arm_target.py.
Check if robot can physically reach target
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 446 of file arm_target.py.
Return whether or not primitive is selected
Returns
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 347 of file arm_target.py.
Return whether or not marker is visible
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 261 of file arm_target.py.
Return whether pose of primitive is editable
Returns:
bool : True
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 551 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.select | ( | self, | |
| is_selected | |||
| ) |
Set whether primitive is selected or not
Args:
is_selected (bool)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 330 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.set_control_visible | ( | self, | |
visible = True |
|||
| ) |
Set visibility of marker controls
Args:
visible (bool, optional)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 363 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.set_name | ( | self, | |
| name | |||
| ) |
Sets the display name for the primitive.
Args:
name (str) : A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 517 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.set_pose | ( | self, | |
| new_pose | |||
| ) |
Changes the pose of the primitive to new_pose.
Args:
new_pose (PoseStamped)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 541 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.set_primitive_number | ( | self, | |
| number | |||
| ) |
Sets what number this primitive is in the sequence
Args:
num (int)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 403 of file arm_target.py.
Adds marker for primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 238 of file arm_target.py.
Updates and re-assigns coordinate frames when the world changes.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 269 of file arm_target.py.
| def fetch_pbd_interaction.arm_target.ArmTarget.update_viz | ( | self, | |
check_reachable = True |
|||
| ) |
Updates visualization fully.
Args:
check_reachable (bool) : whether to evaluate reachability
before drawing marker
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 371 of file arm_target.py.
Member Data Documentation
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
fetch_pbd_interaction::arm_target.ArmTarget::_offset = DEFAULT_OFFSET [static, private] |
Definition at line 99 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
Definition at line 110 of file arm_target.py.
The documentation for this class was generated from the following file: