moveit_commander.robot.RobotCommander.Joint Class Reference

Inheritance diagram for moveit_commander.robot.RobotCommander.Joint:

Public Member Functions
def	__init__ (self, robot, name)
def	bounds (self)
def	max_bound (self)
def	min_bound (self)
def	move (self, position, wait=True)
def	name (self)
def	value (self)
def	variable_count (self)

Private Member Functions
def	__get_joint_limits (self)

Private Attributes
	_name
	_robot

Detailed Description

Definition at line 44 of file robot.py.

Constructor & Destructor Documentation

__init__()

def moveit_commander.robot.RobotCommander.Joint.__init__	(		self,
			robot,
			name
	)

Definition at line 45 of file robot.py.

Member Function Documentation

__get_joint_limits()

def moveit_commander.robot.RobotCommander.Joint.__get_joint_limits (   self )

private

@return: A list of length of 2 that contains max and min positional
         limits of the specified joint.

Definition at line 130 of file robot.py.

bounds()

def moveit_commander.robot.RobotCommander.Joint.bounds

(

self

)

@return: Either a single list of min and max joint limits, or
         a set of those lists, depending on the number of variables
         available in this joint.

Definition at line 61 of file robot.py.

max_bound()

def moveit_commander.robot.RobotCommander.Joint.max_bound

(

self

)

@return: Either a single max joint limit value, or
         a set of max values, depending on the number of variables
         available in this joint.

Definition at line 85 of file robot.py.

min_bound()

def moveit_commander.robot.RobotCommander.Joint.min_bound

(

self

)

@return: Either a single min joint limit value, or
         a set of min values, depending on the number of variables
         available in this joint.

Definition at line 73 of file robot.py.

move()

def moveit_commander.robot.RobotCommander.Joint.move	(		self,
			position,
			wait = True
	)

@param position [float]: List of joint angles to achieve.
@param wait bool: If false, the commands gets operated asynchronously.

Definition at line 112 of file robot.py.

name()

def moveit_commander.robot.RobotCommander.Joint.name

(

self

)

Definition at line 49 of file robot.py.

value()

def moveit_commander.robot.RobotCommander.Joint.value

(

self

)

@rtype float

(Editor's comment by @130s) I doubt there's a case where this method goes into
"else" block, because get_current_joint_values always return a single list.

cf. getCurrentJointValues https://github.com/moveit/moveit_ros/blob/8e819dda2b19462b8d0c5aacc69706c8a9d8d883/planning_interface/robot_interface/src/wrap_python_robot_interface.cpp#L176

Definition at line 97 of file robot.py.

variable_count()

def moveit_commander.robot.RobotCommander.Joint.variable_count

(

self

)

@return number of the list that _Joint__get_joint_limits
        methods returns.
@see: http://docs.ros.org/indigo/api/moveit_core/html/classmoveit_1_1core_1_1JointModel.html#details
      for more about variable.

Definition at line 52 of file robot.py.

Member Data Documentation

_name

moveit_commander.robot.RobotCommander.Joint._name

private

Definition at line 47 of file robot.py.

_robot

moveit_commander.robot.RobotCommander.Joint._robot

private

Definition at line 46 of file robot.py.

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

• robot.py