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
	_publisher
	_subscriber_components
	_subscriber_main
	_synergy

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 synergy_node.py.

Constructor & Destructor Documentation

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

Definition at line 33 of file synergy_node.py.

Member Function Documentation

def grasp_synergy.synergy_node.GraspSynergyNode._callback_component	(	self,
		data,
		component_number
	)	`[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 synergy_node.py.

def grasp_synergy.synergy_node.GraspSynergyNode._callback_main	(	self,
		data
	)	`[private]`

Main callback for a fully-specified coefficient vector.
Commands the synergy.

Definition at line 71 of file synergy_node.py.

def grasp_synergy.synergy_node.GraspSynergyNode._init_subscribers	(	self,
		synergy_input_topic,
		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
grasp.

Definition at line 92 of file synergy_node.py.