dsr_basic_test Namespace Reference

Functions
def	_ros_listToFloat64MultiArray (list_src)
def	SET_ROBOT (id, model)
def	shutdown ()

Variables
	acc
list	accx = [100, 100]
list	amp = [10,0,0,0,30,0]
float	angle1 = 0.0
	angle2
float	atime = 0.2
	blendType
list	bx11 = [21.0]
list	bx21 = [22.0]
list	bx31 = [23.0]
list	c1 = [559,434.5,651.5,0,180,0]
list	c2 = [559,434.5,251.5,0,180,0]
	CirclePos = _ros_listToFloat64MultiArray([c1, c2])
	dont_write_bytecode
float	maxLength = 50.0
float	maxRadius = 20.0
	mb_seg = _ros_listToFloat64MultiArray([seg1, seg2, seg3])
	mode
	move_blending = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_blending', MoveBlending)
	move_circle = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_circle', MoveCircle)
	move_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_joint', MoveJoint)
	move_jointx = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_jointx', MoveJointx)
	move_line = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_line', MoveLine)
	move_periodic = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_periodic', MovePeriodic)
	move_spiral = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spiral', MoveSpiral)
	move_spline_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_joint', MoveSplineJoint)
	move_spline_task = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_task', MoveSplineTask)
string	my_robot_id = "dsr01"
string	my_robot_model = "m1013"
int	opt = 0
list	p1 = [0,0,0,0,0,0]
list	p2 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0]
list	period = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
	posCnt = len(mb_seg)
	pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10)
list	q0 = [0,0,0,0,0,0]
list	q1 = [10, -10, 20, -30, 10, 20]
list	q2 = [25, 0, 10, -50, 20, 40]
list	q3 = [50, 50, 50, 50, 50, 50]
list	q4 = [30, 10, 30, -20, 10, 60]
list	q5 = [20, 20, 40, 20, 0, 90]
	radius
	ref
int	repeat = 5
int	revolution = 9
string	ROBOT_ID = "dsr01"
string	ROBOT_MODEL = "m1013"
	seg1 = bx11+bx12+bx_type1+bx_radius1
	seg2 = bx21+bx22+bx_type2+bx_radius2
	seg3 = bx31+bx32+bx_type3+bx_radius3
	sol
	SplinePosj = _ros_listToFloat64MultiArray([q0,q1,q2,q3,q4,q5])
	SplinePosx = _ros_listToFloat64MultiArray([x1, x2, x3, x4, x5, x6])
	syncType
int	taskAxis = 0
float	time = 0.0
int	vel = 30
list	velx = [50, 50]
list	x1 = [400, 500, 800.0, 0.0, 180.0, 0.0]
list	x2 = [400, 500, 500.0, 0.0, 180.0, 0.0]
list	x3 = [150, 600, 450, 0, 175, 0]
list	x4 = [-300, 300, 300, 0, 175, 0]
list	x5 = [-200, 700, 500, 0, 175, 0]
list	x6 = [600, 600, 400, 0, 175, 0]

Function Documentation

def dsr_basic_test._ros_listToFloat64MultiArray (   list_src )

private

Definition at line 33 of file dsr_basic_test.py.

def dsr_basic_test.SET_ROBOT	(		id,
			model
	)

Definition at line 21 of file dsr_basic_test.py.

def dsr_basic_test.shutdown

(

)

Definition at line 24 of file dsr_basic_test.py.

Variable Documentation

dsr_basic_test.acc

Definition at line 71 of file dsr_basic_test.py.

list dsr_basic_test.accx = [100, 100]

Definition at line 80 of file dsr_basic_test.py.

list dsr_basic_test.amp = [10,0,0,0,30,0]

Definition at line 108 of file dsr_basic_test.py.

float dsr_basic_test.angle1 = 0.0

Definition at line 72 of file dsr_basic_test.py.

dsr_basic_test.angle2

Definition at line 72 of file dsr_basic_test.py.

float dsr_basic_test.atime = 0.2

Definition at line 110 of file dsr_basic_test.py.

dsr_basic_test.blendType

Definition at line 70 of file dsr_basic_test.py.

list dsr_basic_test.bx11 = [21.0]

Definition at line 114 of file dsr_basic_test.py.

list dsr_basic_test.bx21 = [22.0]

Definition at line 115 of file dsr_basic_test.py.

list dsr_basic_test.bx31 = [23.0]

Definition at line 116 of file dsr_basic_test.py.

list dsr_basic_test.c1 = [559,434.5,651.5,0,180,0]

Definition at line 82 of file dsr_basic_test.py.

list dsr_basic_test.c2 = [559,434.5,251.5,0,180,0]

Definition at line 83 of file dsr_basic_test.py.

dsr_basic_test.CirclePos = _ros_listToFloat64MultiArray([c1, c2])

Definition at line 84 of file dsr_basic_test.py.

dsr_basic_test.dont_write_bytecode

Definition at line 12 of file dsr_basic_test.py.

float dsr_basic_test.maxLength = 50.0

Definition at line 106 of file dsr_basic_test.py.

float dsr_basic_test.maxRadius = 20.0

Definition at line 105 of file dsr_basic_test.py.

dsr_basic_test.mb_seg = _ros_listToFloat64MultiArray([seg1, seg2, seg3])

Definition at line 122 of file dsr_basic_test.py.

dsr_basic_test.mode

Definition at line 70 of file dsr_basic_test.py.

dsr_basic_test.move_blending = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_blending', MoveBlending)

Definition at line 66 of file dsr_basic_test.py.

dsr_basic_test.move_circle = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_circle', MoveCircle)

Definition at line 62 of file dsr_basic_test.py.

dsr_basic_test.move_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_joint', MoveJoint)

Definition at line 58 of file dsr_basic_test.py.

dsr_basic_test.move_jointx = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_jointx', MoveJointx)

Definition at line 59 of file dsr_basic_test.py.

dsr_basic_test.move_line = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_line', MoveLine)

Definition at line 61 of file dsr_basic_test.py.

dsr_basic_test.move_periodic = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_periodic', MovePeriodic)

Definition at line 68 of file dsr_basic_test.py.

dsr_basic_test.move_spiral = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spiral', MoveSpiral)

Definition at line 67 of file dsr_basic_test.py.

dsr_basic_test.move_spline_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_joint', MoveSplineJoint)

Definition at line 63 of file dsr_basic_test.py.

dsr_basic_test.move_spline_task = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_task', MoveSplineTask)

Definition at line 64 of file dsr_basic_test.py.

string dsr_basic_test.my_robot_id = "dsr01"

Definition at line 45 of file dsr_basic_test.py.

string dsr_basic_test.my_robot_model = "m1013"

Definition at line 46 of file dsr_basic_test.py.

int dsr_basic_test.opt = 0

Definition at line 73 of file dsr_basic_test.py.

list dsr_basic_test.p1 = [0,0,0,0,0,0]

Definition at line 75 of file dsr_basic_test.py.

list dsr_basic_test.p2 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0]

Definition at line 76 of file dsr_basic_test.py.

list dsr_basic_test.period = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

Definition at line 109 of file dsr_basic_test.py.

dsr_basic_test.posCnt = len(mb_seg)

Definition at line 123 of file dsr_basic_test.py.

dsr_basic_test.pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10)

Definition at line 53 of file dsr_basic_test.py.

list dsr_basic_test.q0 = [0,0,0,0,0,0]

Definition at line 86 of file dsr_basic_test.py.

list dsr_basic_test.q1 = [10, -10, 20, -30, 10, 20]

Definition at line 87 of file dsr_basic_test.py.

list dsr_basic_test.q2 = [25, 0, 10, -50, 20, 40]

Definition at line 88 of file dsr_basic_test.py.

list dsr_basic_test.q3 = [50, 50, 50, 50, 50, 50]

Definition at line 89 of file dsr_basic_test.py.

list dsr_basic_test.q4 = [30, 10, 30, -20, 10, 60]

Definition at line 90 of file dsr_basic_test.py.

list dsr_basic_test.q5 = [20, 20, 40, 20, 0, 90]

Definition at line 91 of file dsr_basic_test.py.

dsr_basic_test.radius

Definition at line 70 of file dsr_basic_test.py.

dsr_basic_test.ref

Definition at line 70 of file dsr_basic_test.py.

int dsr_basic_test.repeat = 5

Definition at line 111 of file dsr_basic_test.py.

int dsr_basic_test.revolution = 9

Definition at line 104 of file dsr_basic_test.py.

string dsr_basic_test.ROBOT_ID = "dsr01"

Definition at line 19 of file dsr_basic_test.py.

string dsr_basic_test.ROBOT_MODEL = "m1013"

Definition at line 20 of file dsr_basic_test.py.

dsr_basic_test.seg1 = bx11+bx12+bx_type1+bx_radius1

Definition at line 118 of file dsr_basic_test.py.

dsr_basic_test.seg2 = bx21+bx22+bx_type2+bx_radius2

Definition at line 119 of file dsr_basic_test.py.

dsr_basic_test.seg3 = bx31+bx32+bx_type3+bx_radius3

Definition at line 120 of file dsr_basic_test.py.

dsr_basic_test.sol

Definition at line 71 of file dsr_basic_test.py.

dsr_basic_test.SplinePosj = _ros_listToFloat64MultiArray([q0,q1,q2,q3,q4,q5])

Definition at line 92 of file dsr_basic_test.py.

dsr_basic_test.SplinePosx = _ros_listToFloat64MultiArray([x1, x2, x3, x4, x5, x6])

Definition at line 100 of file dsr_basic_test.py.

dsr_basic_test.syncType

Definition at line 70 of file dsr_basic_test.py.

int dsr_basic_test.taskAxis = 0

Definition at line 103 of file dsr_basic_test.py.

float dsr_basic_test.time = 0.0

Definition at line 70 of file dsr_basic_test.py.

int dsr_basic_test.vel = 30

Definition at line 71 of file dsr_basic_test.py.

list dsr_basic_test.velx = [50, 50]

Definition at line 79 of file dsr_basic_test.py.

list dsr_basic_test.x1 = [400, 500, 800.0, 0.0, 180.0, 0.0]

Definition at line 77 of file dsr_basic_test.py.

list dsr_basic_test.x2 = [400, 500, 500.0, 0.0, 180.0, 0.0]

Definition at line 78 of file dsr_basic_test.py.

list dsr_basic_test.x3 = [150, 600, 450, 0, 175, 0]

Definition at line 96 of file dsr_basic_test.py.

list dsr_basic_test.x4 = [-300, 300, 300, 0, 175, 0]

Definition at line 97 of file dsr_basic_test.py.

list dsr_basic_test.x5 = [-200, 700, 500, 0, 175, 0]

Definition at line 98 of file dsr_basic_test.py.

list dsr_basic_test.x6 = [600, 600, 400, 0, 175, 0]

Definition at line 99 of file dsr_basic_test.py.