arbotix_python.joints.Joint Class Reference

Joints hold current values. More...

Inheritance diagram for arbotix_python.joints.Joint:

Public Member Functions
def	__init__ (self, device, name)
	Constructs a Joint instance. More...
def	getDiagnostics (self)
	Get a diagnostics message for this joint. More...
def	interpolate (self, frame)
	Get new output, in raw data format. More...
def	setControlOutput (self, position)
	Set the goal position. More...
def	setCurrentFeedback (self, raw_data)
	Set the current position from feedback data. More...

Public Attributes
	controller
	device
	last
	name
	position
	velocity

Detailed Description

Joints hold current values.

Definition at line 32 of file joints.py.

Constructor & Destructor Documentation

def arbotix_python.joints.Joint.__init__	(		self,
			device,
			name
	)

Constructs a Joint instance.

Parameters

device	The arbotix instance.
name	The joint name.

Definition at line 39 of file joints.py.

Member Function Documentation

def arbotix_python.joints.Joint.getDiagnostics

(

self

)

Get a diagnostics message for this joint.

Returns

Diagnostics message.

Definition at line 75 of file joints.py.

def arbotix_python.joints.Joint.interpolate	(		self,
			frame
	)

Get new output, in raw data format.

Parameters

frame

The frame length in seconds to interpolate forward.

Returns

The new output, in raw data format.

Definition at line 53 of file joints.py.

def arbotix_python.joints.Joint.setControlOutput	(		self,
			position
	)

Set the goal position.

Parameters

position

The goal position, in radians/meters.

Returns

The output position, in raw data format.

Definition at line 69 of file joints.py.

def arbotix_python.joints.Joint.setCurrentFeedback	(		self,
			raw_data
	)

Set the current position from feedback data.

Parameters

raw_data

The current feedback.

Returns

The current position, in radians/meters.

Definition at line 61 of file joints.py.

Member Data Documentation

arbotix_python.joints.Joint.controller

Definition at line 42 of file joints.py.

arbotix_python.joints.Joint.device

Definition at line 40 of file joints.py.

arbotix_python.joints.Joint.last

Definition at line 46 of file joints.py.

arbotix_python.joints.Joint.name

Definition at line 41 of file joints.py.

arbotix_python.joints.Joint.position

Definition at line 44 of file joints.py.

arbotix_python.joints.Joint.velocity

Definition at line 45 of file joints.py.

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

• joints.py