nextage_ros_playpattern Namespace Reference

Functions
def	setTargetPoseSequenceMoveIt (limb, pos_list, rpy_list, tm_list)

Variables
	anonymous
	circ_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(circ_xyzs))
	circ_time = nxtpp.equalTimeList(10.0, len(circ_xyzs))
	circ_xyzs = nxtpp.circularPositions(center=[0.35, 0.1, 0.1], radius=0.1 ,steps=12)
	flaction
	group = MoveGroupCommander(limb_name)
string	limb_name = "left_arm"
	plan = group.plan()
	pose_target = geometry_msgs.msg.Pose()
list	positions_arm = []
	rarm_initial_pose = group.get_current_pose().pose
	rect_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(rect_xyzs))
	rect_time = nxtpp.equalTimeList(10.0, len(rect_xyzs))
	rect_xyzs = nxtpp.rectangularPositions(dp_a=[0.25, 0.0, 0.1], dp_b=[0.45, 0.2, 0.1])
	ret = group.go()
list	rpys_arm = []
list	time_list = []

Function Documentation

def nextage_ros_playpattern.setTargetPoseSequenceMoveIt	(		limb,
			pos_list,
			rpy_list,
			tm_list
	)

Create a array of limb joint angles for the each waypoints
from data of the end effector postions and postures
using MoveIt!.

@type  limb     : str
@param limb     : limb to create a pattern, right arm 'rarm' or left arm 'larm'
@type  pos_list : [[float,float,float],[float,float,float],...]
@param pos_list : Array of end effector positions (x,y,z) [m]
@type  rpy_list : [[float,float,float],[float,float,float],...]
@param rpy_list : Array of end effector postures (r,p,y) [m]
@type  tm_list  : [float,float,...]
@param tm_list  : Array of motion time lengths of the each pose [s]

@rtype  : RobotTrajectory, float
@return : Plan of limb waypoints motion and fraction of the path achieved as described by the waypoints

Definition at line 48 of file nextage_ros_playpattern.py.

Variable Documentation

nextage_ros_playpattern.anonymous

Definition at line 93 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.circ_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(circ_xyzs))

Definition at line 115 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.circ_time = nxtpp.equalTimeList(10.0, len(circ_xyzs))

Definition at line 116 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.circ_xyzs = nxtpp.circularPositions(center=[0.35, 0.1, 0.1], radius=0.1 ,steps=12)

Definition at line 114 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.flaction

Definition at line 134 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.group = MoveGroupCommander(limb_name)

Definition at line 96 of file nextage_ros_playpattern.py.

string nextage_ros_playpattern.limb_name = "left_arm"

Definition at line 95 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.plan = group.plan()

Definition at line 134 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.pose_target = geometry_msgs.msg.Pose()

Definition at line 101 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.positions_arm = []

Definition at line 104 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.rarm_initial_pose = group.get_current_pose().pose

Definition at line 98 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.rect_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(rect_xyzs))

Definition at line 110 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.rect_time = nxtpp.equalTimeList(10.0, len(rect_xyzs))

Definition at line 111 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.rect_xyzs = nxtpp.rectangularPositions(dp_a=[0.25, 0.0, 0.1], dp_b=[0.45, 0.2, 0.1])

Definition at line 109 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.ret = group.go()

Definition at line 152 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.rpys_arm = []

Definition at line 105 of file nextage_ros_playpattern.py.

nextage_ros_playpattern.time_list = []

Definition at line 106 of file nextage_ros_playpattern.py.