pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver Class Reference

Inheritance diagram for pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver:

Public Member Functions
def	__init__ (self, group_name=_DEFAULT_GROUP_NAME)
def	is_robot_moving (self, sleep_interval=_DEFAULT_SLEEP_INTERVAL_SEC, move_tolerance=_DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD)
def	wait_motion_start (self, wait_time_out=_DEFAULT_WAIT_TIME_FOR_MOTION_DETECTION_SEC, move_tolerance=_DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD, sleep_interval=_DEFAULT_SLEEP_INTERVAL_SEC)
def	wait_motion_stop (self, wait_time_out=_DEFAULT_WAIT_TIME_FOR_MOTION_DETECTION_SEC, move_tolerance=_DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD, sleep_interval=_DEFAULT_SLEEP_INTERVAL_SEC)

Private Member Functions
def	_get_current_joint_states (self)

Static Private Member Functions
def	_detect_motion (joint_values_a, joint_values_b, tolerance=_DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD)

Private Attributes
	_group_name
	_robot_commander

Static Private Attributes
string	_DEFAULT_GROUP_NAME = "manipulator"
float	_DEFAULT_SLEEP_INTERVAL_SEC = 0.01
float	_DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD = 0.01
float	_DEFAULT_WAIT_TIME_FOR_MOTION_DETECTION_SEC = 3.0

Detailed Description

Observes motions of the robot.

The implementation is based on using the get_current_joint_values()) functionality of the RobotCommander().

:param group_name: Name of the planning group, default value is 'manipulator'

Definition at line 24 of file robot_motion_observer.py.

Constructor & Destructor Documentation

def pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver.__init__	(		self,
			group_name = _DEFAULT_GROUP_NAME
	)

Definition at line 37 of file robot_motion_observer.py.

Member Function Documentation

def pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._detect_motion (   joint_values_a,   joint_values_b,   tolerance = _DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD  )

staticprivate

TRUE if a significant motion was detected, otherwise FALSE.

Definition at line 42 of file robot_motion_observer.py.

def pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._get_current_joint_states (   self )

private

Returns the current joint state values of the robot.
:raises RobotCurrentStateError if given planning group does not exist.

Definition at line 47 of file robot_motion_observer.py.

def pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver.is_robot_moving	(		self,
			sleep_interval = _DEFAULT_SLEEP_INTERVAL_SEC,
			move_tolerance = _DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD
	)

TRUE if the robot is currently moving, otherwise FLASE.

Definition at line 59 of file robot_motion_observer.py.

def pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver.wait_motion_start	(		self,
			wait_time_out = _DEFAULT_WAIT_TIME_FOR_MOTION_DETECTION_SEC,
			move_tolerance = _DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD,
			sleep_interval = _DEFAULT_SLEEP_INTERVAL_SEC
	)

TRUE if the motion started in the given time interval, otherwise FALSE.

Definition at line 68 of file robot_motion_observer.py.

def pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver.wait_motion_stop	(		self,
			wait_time_out = _DEFAULT_WAIT_TIME_FOR_MOTION_DETECTION_SEC,
			move_tolerance = _DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD,
			sleep_interval = _DEFAULT_SLEEP_INTERVAL_SEC
	)

TRUE if the motion stopped in the given time interval, otherwise FALSE.

Definition at line 97 of file robot_motion_observer.py.

Member Data Documentation

string pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._DEFAULT_GROUP_NAME = "manipulator"

staticprivate

Definition at line 35 of file robot_motion_observer.py.

float pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._DEFAULT_SLEEP_INTERVAL_SEC = 0.01

staticprivate

Definition at line 34 of file robot_motion_observer.py.

float pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._DEFAULT_TOLERANCE_FOR_MOTION_DETECTION_RAD = 0.01

staticprivate

Definition at line 33 of file robot_motion_observer.py.

float pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._DEFAULT_WAIT_TIME_FOR_MOTION_DETECTION_SEC = 3.0

staticprivate

Definition at line 32 of file robot_motion_observer.py.

pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._group_name

private

Definition at line 39 of file robot_motion_observer.py.

pilz_industrial_motion_testutils.robot_motion_observer.RobotMotionObserver._robot_commander

private

Definition at line 38 of file robot_motion_observer.py.

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

• robot_motion_observer.py