phantomx_reactor_gripper.WidowxGripper Class Reference

List of all members.

Public Member Functions
def	__init__
def	angleToDistance
def	controlLoop
def	distanceToAngle
def	gripperPrismaticJointCommandCb
def	jointStateCb
def	start
Public Attributes
	angle_to_distance_param_a
	angle_to_distance_param_b
	close_gripper_angle
	close_gripper_distance
	desired_freq
	distance
	gripper_prismatic_joint_state_publisher
	gripper_prismatic_joint_subscriber
	gripper_revolute_joint_name
	gripper_revolute_joint_publisher
	gripper_revolute_joint_state_subscriber
	joint_name
	name
	open_gripper_angle
	open_gripper_distance
	prismatic_command
	revolute_command

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Detailed Description

        Class to communicate with the dinamyxel controllers of the arm

Definition at line 46 of file phantomx_reactor_gripper.py.

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Constructor & Destructor Documentation

def phantomx_reactor_gripper.WidowxGripper.__init__

(

self

)

Definition at line 50 of file phantomx_reactor_gripper.py.

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Member Function Documentation

def phantomx_reactor_gripper.WidowxGripper.angleToDistance	(		self,
			angle
	)

        Receives angle in rads and return distance in meters

Definition at line 84 of file phantomx_reactor_gripper.py.

def phantomx_reactor_gripper.WidowxGripper.controlLoop

(

self

)

        Runs the control loop

Definition at line 123 of file phantomx_reactor_gripper.py.

def phantomx_reactor_gripper.WidowxGripper.distanceToAngle	(		self,
			distance
	)

        Receives distance in meters and returns angle in rads

Definition at line 91 of file phantomx_reactor_gripper.py.

def phantomx_reactor_gripper.WidowxGripper.gripperPrismaticJointCommandCb	(		self,
			msg
	)

        Receives joint command and send it to the controller

Definition at line 108 of file phantomx_reactor_gripper.py.

def phantomx_reactor_gripper.WidowxGripper.jointStateCb	(		self,
			msg
	)

Definition at line 99 of file phantomx_reactor_gripper.py.

def phantomx_reactor_gripper.WidowxGripper.start

(

self

)

        Starts the action server and runs spin

Definition at line 147 of file phantomx_reactor_gripper.py.

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Member Data Documentation

phantomx_reactor_gripper.WidowxGripper::angle_to_distance_param_a

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::angle_to_distance_param_b

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::close_gripper_angle

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::close_gripper_distance

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::desired_freq

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::distance

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::gripper_prismatic_joint_state_publisher

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::gripper_prismatic_joint_subscriber

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::gripper_revolute_joint_name

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::gripper_revolute_joint_publisher

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::gripper_revolute_joint_state_subscriber

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::joint_name

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::name

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::open_gripper_angle

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::open_gripper_distance

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::prismatic_command

Definition at line 50 of file phantomx_reactor_gripper.py.

phantomx_reactor_gripper.WidowxGripper::revolute_command

Definition at line 50 of file phantomx_reactor_gripper.py.

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

• phantomx_reactor_gripper.py