Functions
def	circle_estimator
	fit circle to the trajectory, publish the computed kinematics.
def	trajectory_cb
Variables
list	cartesian_points_list = []
tuple	lock = RLock()
tuple	mech_kin_pub

Function Documentation

def 2010_icra_epc_pull.kinematics_estimator_least_squares.circle_estimator	(	cartesian_pts_list,
		pbshr,
		lock
	)

fit circle to the trajectory, publish the computed kinematics.

Parameters:

cartesian_pts_list	- list of 3-tuples. trajectory of the mechanism
pbshr	- publisher for the MechanismKinematics message
lock	- to make list operations thread safe. (there is a callback too.)

def 2010_icra_epc_pull.kinematics_estimator_least_squares.trajectory_cb	(	pt32,
		tup
	)

Variable Documentation

list 2010_icra_epc_pull::kinematics_estimator_least_squares::cartesian_points_list = []

tuple 2010_icra_epc_pull::kinematics_estimator_least_squares::lock = RLock()

tuple 2010_icra_epc_pull::kinematics_estimator_least_squares::mech_kin_pub

Initial value:

00001 rospy.Publisher('mechanism_kinematics_rot',
00002                                     MechanismKinematicsRot)