node.arm_controller Class Reference

Public Member Functions
def	__init__ (self, isleft=True)
def	armJ_callback (self, msg)
def	armM_callback (self, msg)
def	coast_msg (self)
def	goal_callback (self, data)
def	handle_J1_wrap (self)
def	limit_check (self)
def	setMotorGoalFromArm (self)
def	subscribe2topics (self)
def	sync_pos (self)

Public Attributes
	G_RATIO1
	G_RATIO2
	Hz
	isleft
	joint2_limit
	last_sync
	pubMcmd_Arm
	rate
	speed_limit_J1
	speed_limit_J2
	st
	sync_time

Static Public Attributes
	arm_callibration_offset1
	arm_callibration_offset2
	arm_joint_updated
	arm_motor_inited
	arm_motor_updated
	arm_sensor_inited
	armJointPos_sync
	armJointPosmeas
	armJointPosRawmeas
	armJointPosRawmeasPrev
	armMotorPosmeas
	ArmMsg
	J1nWraps
	joint2_LB
	last_pubJointState_msg
	lp_filterx
	lp_filtery
	med_filtery
	mode
	motor_cmd
	motorDriftSync
	position_error_limit
	pubJointSpeed
	pubJointSpeed_msg
	pubJointState
	pubJointState_msg
	queue_size
	rollOverLB
	rollOverUB
	Vector3
	x
	y
	y_joint_unreasnable_lim

Detailed Description

Definition at line 23 of file node.py.

Constructor & Destructor Documentation

__init__()

def node.arm_controller.__init__	(		self,
			isleft = True
	)

Definition at line 25 of file node.py.

Member Function Documentation

armJ_callback()

def node.arm_controller.armJ_callback	(		self,
			msg
	)

Definition at line 140 of file node.py.

armM_callback()

def node.arm_controller.armM_callback	(		self,
			msg
	)

Definition at line 177 of file node.py.

coast_msg()

def node.arm_controller.coast_msg

(

self

)

Definition at line 206 of file node.py.

goal_callback()

def node.arm_controller.goal_callback	(		self,
			data
	)

Definition at line 124 of file node.py.

handle_J1_wrap()

def node.arm_controller.handle_J1_wrap

(

self

)

Definition at line 273 of file node.py.

limit_check()

def node.arm_controller.limit_check

(

self

)

Definition at line 211 of file node.py.

setMotorGoalFromArm()

def node.arm_controller.setMotorGoalFromArm

(

self

)

Definition at line 239 of file node.py.

subscribe2topics()

def node.arm_controller.subscribe2topics

(

self

)

Definition at line 111 of file node.py.

sync_pos()

def node.arm_controller.sync_pos

(

self

)

Definition at line 265 of file node.py.

Member Data Documentation

arm_callibration_offset1

node.arm_controller.arm_callibration_offset1

static

Definition at line 62 of file node.py.

arm_callibration_offset2

node.arm_controller.arm_callibration_offset2

static

Definition at line 63 of file node.py.

arm_joint_updated

node.arm_controller.arm_joint_updated

static

Definition at line 102 of file node.py.

arm_motor_inited

node.arm_controller.arm_motor_inited

static

Definition at line 100 of file node.py.

arm_motor_updated

node.arm_controller.arm_motor_updated

static

Definition at line 101 of file node.py.

arm_sensor_inited

node.arm_controller.arm_sensor_inited

static

Definition at line 99 of file node.py.

armJointPos_sync

node.arm_controller.armJointPos_sync

static

Definition at line 74 of file node.py.

armJointPosmeas

node.arm_controller.armJointPosmeas

static

Definition at line 72 of file node.py.

armJointPosRawmeas

node.arm_controller.armJointPosRawmeas

static

Definition at line 73 of file node.py.

armJointPosRawmeasPrev

node.arm_controller.armJointPosRawmeasPrev

static

Definition at line 75 of file node.py.

armMotorPosmeas

node.arm_controller.armMotorPosmeas

static

Definition at line 71 of file node.py.

ArmMsg

node.arm_controller.ArmMsg

static

Definition at line 68 of file node.py.

G_RATIO1

node.arm_controller.G_RATIO1

Definition at line 30 of file node.py.

G_RATIO2

node.arm_controller.G_RATIO2

Definition at line 31 of file node.py.

Hz

node.arm_controller.Hz

Definition at line 27 of file node.py.

isleft

node.arm_controller.isleft

Definition at line 29 of file node.py.

J1nWraps

node.arm_controller.J1nWraps

static

Definition at line 60 of file node.py.

joint2_LB

node.arm_controller.joint2_LB

static

Definition at line 105 of file node.py.

joint2_limit

node.arm_controller.joint2_limit

Definition at line 32 of file node.py.

last_pubJointState_msg

node.arm_controller.last_pubJointState_msg

static

Definition at line 76 of file node.py.

last_sync

node.arm_controller.last_sync

Definition at line 35 of file node.py.

lp_filterx

node.arm_controller.lp_filterx

static

Definition at line 93 of file node.py.

lp_filtery

node.arm_controller.lp_filtery

static

Definition at line 95 of file node.py.

med_filtery

node.arm_controller.med_filtery

static

Definition at line 97 of file node.py.

mode

node.arm_controller.mode

static

Definition at line 58 of file node.py.

motor_cmd

node.arm_controller.motor_cmd

static

Definition at line 67 of file node.py.

motorDriftSync

node.arm_controller.motorDriftSync

static

Definition at line 77 of file node.py.

position_error_limit

node.arm_controller.position_error_limit

static

Definition at line 98 of file node.py.

pubJointSpeed

node.arm_controller.pubJointSpeed

static

Definition at line 53 of file node.py.

pubJointSpeed_msg

node.arm_controller.pubJointSpeed_msg

static

Definition at line 70 of file node.py.

pubJointState

node.arm_controller.pubJointState

static

Definition at line 49 of file node.py.

pubJointState_msg

node.arm_controller.pubJointState_msg

static

Definition at line 69 of file node.py.

pubMcmd_Arm

node.arm_controller.pubMcmd_Arm

Definition at line 45 of file node.py.

queue_size

node.arm_controller.queue_size

static

Definition at line 49 of file node.py.

rate

node.arm_controller.rate

Definition at line 28 of file node.py.

rollOverLB

node.arm_controller.rollOverLB

static

Definition at line 104 of file node.py.

rollOverUB

node.arm_controller.rollOverUB

static

Definition at line 103 of file node.py.

speed_limit_J1

node.arm_controller.speed_limit_J1

Definition at line 33 of file node.py.

speed_limit_J2

node.arm_controller.speed_limit_J2

Definition at line 34 of file node.py.

st

node.arm_controller.st

Definition at line 37 of file node.py.

sync_time

node.arm_controller.sync_time

Definition at line 26 of file node.py.

Vector3

node.arm_controller.Vector3

static

Definition at line 49 of file node.py.

x

node.arm_controller.x

static

Definition at line 79 of file node.py.

y

node.arm_controller.y

static

Definition at line 80 of file node.py.

y_joint_unreasnable_lim

node.arm_controller.y_joint_unreasnable_lim

static

Definition at line 108 of file node.py.

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

• node.py