Variables
float	avg_time = 0.0

float	brx = 0.1

float	bx = 0.001

	call_time = fin_t - ini_t

	fin_t = time.time()

	ik_solver

	ini_t = time.time()

int	NUM_COORDS = 200

int	num_solutions_found = 0

list	qinit = [0.] * 7

list	rand_coords = []

float	rw = 1.0

float	rx = 0.0

	sol

	urdf = rospy.get_param('/robot_description')

float	x = 0.0

float	y = random() * 0.6 + -0.3

float	z = random() * 0.7 + -0.35

Variable Documentation

◆ avg_time

float test_wrapper.avg_time = 0.0

Definition at line 46 of file test_wrapper.py.

◆ brx

float test_wrapper.brx = 0.1

Definition at line 34 of file test_wrapper.py.

◆ bx

float test_wrapper.bx = 0.001

Definition at line 33 of file test_wrapper.py.

◆ call_time

test_wrapper.call_time = fin_t - ini_t

Definition at line 56 of file test_wrapper.py.

◆ fin_t

test_wrapper.fin_t = time.time()

Definition at line 55 of file test_wrapper.py.

◆ ik_solver

test_wrapper.ik_solver

Initial value:

 =  TRAC_IK("torso_lift_link",
                         "r_wrist_roll_link",
                         urdf,
                         0.005,  # default seconds
                         1e-5,  # default epsilon
                         "Speed")

Definition at line 16 of file test_wrapper.py.

◆ ini_t

test_wrapper.ini_t = time.time()

Definition at line 49 of file test_wrapper.py.

◆ NUM_COORDS

int test_wrapper.NUM_COORDS = 200

Definition at line 37 of file test_wrapper.py.

◆ num_solutions_found

int test_wrapper.num_solutions_found = 0

Definition at line 47 of file test_wrapper.py.

◆ qinit

list test_wrapper.qinit = [0.] * 7

Definition at line 29 of file test_wrapper.py.

◆ rand_coords

list test_wrapper.rand_coords = []

Definition at line 38 of file test_wrapper.py.

◆ rw

float test_wrapper.rw = 1.0

Definition at line 32 of file test_wrapper.py.

◆ rx

float test_wrapper.rx = 0.0

Definition at line 31 of file test_wrapper.py.

◆ sol

test_wrapper.sol

Initial value:

 =  ik_solver.CartToJnt(qinit,
                                   x, y, z,
                                   rx, ry, rz, rw,
                                   bx, by, bz,
                                   brx, bry, brz)

Definition at line 50 of file test_wrapper.py.

◆ urdf

test_wrapper.urdf = rospy.get_param('/robot_description')

Definition at line 12 of file test_wrapper.py.

◆ x

float test_wrapper.x = 0.0

Definition at line 30 of file test_wrapper.py.

◆ y

float test_wrapper.y = random() * 0.6 + -0.3

Definition at line 41 of file test_wrapper.py.

◆ z

float test_wrapper.z = random() * 0.7 + -0.35

Definition at line 42 of file test_wrapper.py.

Variables