Functions
def	circularPositions (center=[0.3, radius=0.1, steps=12)

def	equalTimeList (whole_tm, pat_length)

def	rectangularPositions (dp_a=[0.25, dp_b=[0.45)

def	samePostureRPY (rpy, pat_length)

def	setTargetPoseSequence (limb, pos_list, rpy_list, tm_list)

Variables
	circ_rpys = samePostureRPY([-3.073437, -1.569023, 3.073247], len(circ_xyzs))

	circ_time = equalTimeList(10.0, len(circ_xyzs))

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

string	limb_name = 'larm'

	play_pattern_arm = setTargetPoseSequence(limb_name, positions_arm, rpys_arm, time_list)

	play_pattern_time = time_list

list	positions_arm = []

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

	rect_time = equalTimeList(10.0, len(rect_xyzs))

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

	robot = nextage_client.NextageClient()

	robotname

list	rpys_arm = []

list	time_list = []

Function Documentation

def nextage_rtm_playpattern.circularPositions	(	center = `[0.3`,
		radius = `0.1`,
		steps = `12`
	)

Create a array of circular position coordinates
from a center position and a radius divided by steps.

@type  center : [float, float, float]
@param center : Position (x,y,z) [m] coordinates of a circle center
@type  radius : float
@param radius : Radius length [m]
@type  steps  : int
@param steps  : Number of steps for dividing a circle

@rtype  : [ [float, float, float], [float, float, float], ...]
@return : Array of circular position coordinates (x,y,z) [m]
          Length of steps+1 (including an end position same as the start position)

Definition at line 42 of file nextage_rtm_playpattern.py.

def nextage_rtm_playpattern.equalTimeList	(	whole_tm,
		pat_length
	)

Create a array of the same time length
from whole motion time.

@type  whole_tm   : float
@param whole_tm   : Whole time [s]
@type  pat_length : int
@param pat_length : Number to divide the whole time

@rtype  : [ float, float, float, ... ]
@return : Array of the equally divided whole time [s]
          Length of pat_length

Definition at line 116 of file nextage_rtm_playpattern.py.

def nextage_rtm_playpattern.rectangularPositions	(	dp_a = `[0.25`,
		dp_b = `[0.45`
	)

Create a array of rectangular position coordinates
from diagonal points of A and B.

@type  dp_a : [float, float, float]
@param dp_a : Position (x,y,z) [m] coordinates of a diagonal point A
@type  dp_a : [float, float, float]
@param dp_a : Position (x,y,z) [m] coordinates of a diagonal point B

@rtype  : [ [float, float, float], [float, float, float], ...]
@return : Array of rectangular position coordinates (x,y,z) [m]
          Length of 5 (including an end position same as the start position)

Definition at line 70 of file nextage_rtm_playpattern.py.

def nextage_rtm_playpattern.samePostureRPY	(	rpy,
		pat_length
	)

Create a array of the same posture Roll, Pitch, Yaw angles
from one set of Roll Pitch Yaw angles.

@type  rpy        : [float, float, float]
@param rpy        : Posture angle Roll, Pitch, Yaw (r,p,y) [rad] to copy
@type  pat_length : int
@param pat_length : Array length of pat_length for the same posture angles

@rtype  : [ [float, float, float], [float, float, float], ...]
@return : Array of the same posture angles (r,p,y) [rad]
          Length of pat_length

Definition at line 95 of file nextage_rtm_playpattern.py.

def nextage_rtm_playpattern.setTargetPoseSequence	(	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 robot moving using RTM interface.

@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  : [[float,float,...],[float,float,...],...]
@return : Array of limb joint angles [rad]

Definition at line 138 of file nextage_rtm_playpattern.py.