abst_acceptancetest.py
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1 # -*- coding: utf-8 -*-
2 
3 # Software License Agreement (BSD License)
4 #
5 # Copyright (c) 2014, TORK (Tokyo Opensource Robotics Kyokai Association)
6 # All rights reserved.
7 #
8 # Redistribution and use in source and binary forms, with or without
9 # modification, are permitted provided that the following conditions
10 # are met:
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13 # notice, this list of conditions and the following disclaimer.
14 # * Redistributions in binary form must reproduce the above
15 # copyright notice, this list of conditions and the following
16 # disclaimer in the documentation and/or other materials provided
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18 # * Neither the name of TORK. nor the
19 # names of its contributors may be used to endorse or promote products
20 # derived from this software without specific prior written permission.
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22 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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34 
35 import abc
36 
37 
39 
40  _MSG_ERR_NOTIMPLEMENTED = 'The method is not implemented in the derived class'
41 
42  def __init__(self, robot_client, default_task_duration=7.0):
43  '''
44  @type robot_client: hironx_ros_bridge.ros_client.ROS_Client or
45  hrpsys.hrpsys_config.HrpsysConfigurator
46  '''
47  self._robotclient = robot_client
48  self._default_task_duration = default_task_duration
49 
50  @abc.abstractmethod
51  def go_initpos(self, default_task_duration=7.0):
52  raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
53 
54  @abc.abstractmethod
55  def set_joint_angles(self, joint_group, joint_angles,
56  msg_tasktitle=None, task_duration=7.0, do_wait=True):
57  '''
58  Move by passing joint angles of an arm.
59 
60  @type joint_group: str
61  @type joint_angles: [double]
62  @type msg_tasktitle: str
63  @type task_duration: double
64  '''
65  raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
66 
67  @abc.abstractmethod
68  def set_pose(self, joint_group, pose, rpy, msg_tasktitle=None,
69  task_duration=7.0, do_wait=True, ref_frame_name=None):
70  '''
71  @type rpy: [float]
72  @param rpy: In radian.
73  '''
74  raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
75 
76  @abc.abstractmethod
78  self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
79  msg_tasktitle=None, task_duration=7.0, do_wait=True):
80  ''' '''
81  raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
def set_pose_relative(self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0, msg_tasktitle=None, task_duration=7.0, do_wait=True)
def set_pose(self, joint_group, pose, rpy, msg_tasktitle=None, task_duration=7.0, do_wait=True, ref_frame_name=None)
def __init__(self, robot_client, default_task_duration=7.0)
def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None, task_duration=7.0, do_wait=True)


hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Mon Feb 28 2022 23:45:15