Public Member Functions | Private Member Functions | Private Attributes
grasp_synergy.synergy_node.GraspSynergyNode Class Reference

List of all members.

Public Member Functions

def __init__
def command_synergy
def fit_bag_file
def fit_joint_state_messages
def fit_joint_values

Private Member Functions

def _callback_component
def _callback_main
def _init_subscribers

Private Attributes


Detailed Description

The grasp synergy node subscribes to low-dimensional synergies
and publishes desired joint state.

It is hand agnostic.

Definition at line 25 of file

Constructor & Destructor Documentation

def grasp_synergy.synergy_node.GraspSynergyNode.__init__ (   self,
  synergy_input_topic = 'grasp_synergy',
  num_synergies = 2 

Definition at line 33 of file

Member Function Documentation

def grasp_synergy.synergy_node.GraspSynergyNode._callback_component (   self,
) [private]
Component callback (component number & value).

Creates an alpha vector with all zeros except for the given component,
then commands the synergy.

Definition at line 79 of file

def grasp_synergy.synergy_node.GraspSynergyNode._callback_main (   self,
) [private]
Main callback for a fully-specified coefficient vector.
Commands the synergy.

Definition at line 71 of file

def grasp_synergy.synergy_node.GraspSynergyNode._init_subscribers (   self,
  num_synergies = 0,
  queue_size = 1 
) [private]
Create num_synergies+1 subscribers. The main (top-level) subscriber
listens for an array of floats.

Each component subscriber only listens to the float corresponding to
its component's singular value. Each component subscriber is nested
under the top-level one: synergy_input_topic/

:param synergy_input_topic The top-level topic.

:param num_synergies Number of component subscribers to generate.

:param queue_size Subscriber queue size. Setting the queue size
small allows dropping older messages when a new one is received,
to prevent a large queue of messages to process. This is useful
because the synergy callback can take some time to compute the

Definition at line 92 of file

Definition at line 56 of file

Definition at line 53 of file

Definition at line 50 of file

Definition at line 47 of file

Member Data Documentation

Definition at line 33 of file

Definition at line 33 of file

Definition at line 33 of file

Definition at line 33 of file

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

Author(s): Felix Duvallet
autogenerated on Sat Jun 8 2019 20:11:26