Functions
def	bin
	take max force magnitude within a bin size
def	calculate_derived_quantities
def	compute_segway_motion_mag
def	decompose_forces_and_recover_mechanism_state
def	end_effector_poses_from_log
	Recovers end effector pose in global coordinate frame taking into account the segway's motion and robot's kinematics.
def	find_circle_center_from_log
	Find the circle's center.
def	ft_to_camera
	Transform a force reading to camera coord frame.
def	fts_to_camera
	Transform force readings to camera coord frame.
def	gradient
	shortens x by 2.
def	interpolate_1d
def	kinematic_params
	computes vel and acc for the mechanism returns lists.
def	linear_distances
def	linear_mechanism_configurations_from_global_poses
def	rotary_angles
	given a list of 1d time arrays, find the sequence that started first and subtract all sequences from its first time recording def equalize_times(list_of_time_arrays): start_times = [] end_times = [] for tarray in list_of_time_arrays: start_times.append(tarray[0]) end_times.append(tarray[-1])
def	rotary_mechanism_configurations_from_global_poses
def	segment_as_dict
def	velocity
	Moved to hrl_lib def filter(alist, indices): rlist = [] for i in indices: rlist.append(alist[i]) return rlist.
Variables
tuple	a = np.arange(0, 3, .1)
	equalize_times = dp.equalize_times
	filter = dp.filter
	gradient = dp.gradient
	histogram = dp.histogram
	histogram_get_bin_numb = dp.histogram_get_bin_numb
	interpolate_1d = dp.interpolate_1d
	random_color = dd.random_color

Function Documentation

def modeling_forces.mf_common.bin	(	poses_list,
		ftan_list
	)

take max force magnitude within a bin size

Definition at line 363 of file mf_common.py.

def modeling_forces.mf_common.calculate_derived_quantities	(	ler_result,
		smooth_window
	)

Definition at line 134 of file mf_common.py.

def modeling_forces.mf_common.compute_segway_motion_mag ( d )

Definition at line 296 of file mf_common.py.

def modeling_forces.mf_common.decompose_forces_and_recover_mechanism_state	(	d,
		type = `'rotary'`
	)

Parameters:

d	data log dictionary

Definition at line 278 of file mf_common.py.

def modeling_forces.mf_common.end_effector_poses_from_log ( d )

Recovers end effector pose in global coordinate frame taking into account the segway's motion and robot's kinematics.

def account_for_segway_motion_from_log(d):

Definition at line 329 of file mf_common.py.

def modeling_forces.mf_common.find_circle_center_from_log	(	d,
		actual_cartesian,
		plot = `False`
	)

Find the circle's center.

Parameters:

actual_cartesian	end effector poses in global frame
d	a log dictionary

Definition at line 338 of file mf_common.py.

def modeling_forces.mf_common.ft_to_camera	(	force_tool,
		hand_rot_matrix,
		number
	)

Transform a force reading to camera coord frame.

Parameters:

hand_rot_matrix	- rotation matrix for camera to hand checker.
number	- checkerboard number (1, 2, 3 or 4)

Definition at line 240 of file mf_common.py.

def modeling_forces.mf_common.fts_to_camera ( combined_dict )

Transform force readings to camera coord frame.

Definition at line 254 of file mf_common.py.

def modeling_forces.mf_common.gradient	(	t,
		x
	)

shortens x by 2.

and returns dx/dt

Definition at line 34 of file mf_common.py.

def modeling_forces.mf_common.interpolate_1d	(	x,
		y,
		xquery
	)

Definition at line 112 of file mf_common.py.

def modeling_forces.mf_common.kinematic_params	(	mech_x_l,
		time_list,
		smooth_window
	)

computes vel and acc for the mechanism returns lists.

Definition at line 78 of file mf_common.py.

def modeling_forces.mf_common.linear_distances ( mechanism_positions )

Parameters:

mechanism_positions list of 3x1 vectors

Definition at line 227 of file mf_common.py.

def modeling_forces.mf_common.linear_mechanism_configurations_from_global_poses	(	pts_2d,
		center
	)

Definition at line 304 of file mf_common.py.

def modeling_forces.mf_common.rotary_angles	(	mechanism_rotations,
		radius
	)

given a list of 1d time arrays, find the sequence that started first and subtract all sequences from its first time recording def equalize_times(list_of_time_arrays): start_times = [] end_times = [] for tarray in list_of_time_arrays: start_times.append(tarray[0]) end_times.append(tarray[-1])

min_start = np.min(start_times) max_end = np.max(end_times)

adjusted_list_of_time_arrays = [] for tarray in list_of_time_arrays: adjusted_list_of_time_arrays.append(tarray - min_start)

return adjusted_list_of_time_arrays, min_start, max_end

Parameters:

mechanism_rotations list of 3x3 rotation matrices

Definition at line 215 of file mf_common.py.

def modeling_forces.mf_common.rotary_mechanism_configurations_from_global_poses	(	pts_2d,
		center
	)

Definition at line 313 of file mf_common.py.

def modeling_forces.mf_common.segment_as_dict ( segments )

Definition at line 186 of file mf_common.py.

def modeling_forces.mf_common.velocity	(	kin_info,
		smooth_window
	)

Moved to hrl_lib def filter(alist, indices): rlist = [] for i in indices: rlist.append(alist[i]) return rlist.

def gradient(t, x): #pdb.set_trace() dx = x[:, 2:] - x[:, 0:-2] dt = t[0, 2:] - t[0, 0:-2] dx_dt = np.multiply(dx, 1/dt) #pdb.set_trace() dx_dt = np.column_stack((dx_dt[:,0], dx_dt)) dx_dt = np.column_stack((dx_dt, dx_dt[:,-1])) return dx_dt

Definition at line 61 of file mf_common.py.