fake_articulate_cart_server.fakeArticulateCartServer Class Reference

Inheritance diagram for fake_articulate_cart_server.fakeArticulateCartServer:

List of all members.

Public Member Functions
def	__init__
def	send_effector_poses_to_tf
Private Member Functions
def	_pose_command_action
def	_slow_tf_update_loop
Private Attributes
	_pose_resp
	Initialize gripper poses from cart initial pose (for update loop)
	_tb

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Detailed Description

A fake version of the articulate_cart server which allows us to run the 
cart_pushing task in stage (real runs require cart pose estimates from 
either the checkerboard or the arms).  To do this, we present the same
interface as the regular articulate_cart server, but rather than talking
to the arms, we just use the solver to give us target poses for the grippers
and write them directly to tf.

Definition at line 46 of file fake_articulate_cart_server.py.

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Constructor & Destructor Documentation

def fake_articulate_cart_server.fakeArticulateCartServer.__init__	(		self,
			use_tf_grippers,
			use_gripper_midpoint,
			tf_object_name
	)

Parameters:

use_tf_grippers,:	lookup gripper poses from tf and re-initialize manipulation_transforms
use_gripper_midpoint,:	set object initial pose to midpoint between grippers, and re-initialize manipulation_transforms
tf_object_name,:	if non-empty, attempt to lookup object initial pose on tf with given frame name, and re-initialize manipulation_transforms

Reimplemented from articulate_cart_server.articulateCartServer.

Definition at line 55 of file fake_articulate_cart_server.py.

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Member Function Documentation

def fake_articulate_cart_server.fakeArticulateCartServer._pose_command_action

(

self

)

[private]

Send the target effector poses to the arm control topics

Reimplemented from articulate_cart_server.articulateCartServer.

Definition at line 103 of file fake_articulate_cart_server.py.

def fake_articulate_cart_server.fakeArticulateCartServer._slow_tf_update_loop	(		self,
			r = 3
	)		[private]

Definition at line 110 of file fake_articulate_cart_server.py.

def fake_articulate_cart_server.fakeArticulateCartServer.send_effector_poses_to_tf

(

self

)

Definition at line 76 of file fake_articulate_cart_server.py.

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Member Data Documentation

fake_articulate_cart_server.fakeArticulateCartServer::_pose_resp [private]

Initialize gripper poses from cart initial pose (for update loop)

Reimplemented from articulate_cart_server.articulateCartServer.

Definition at line 56 of file fake_articulate_cart_server.py.

fake_articulate_cart_server.fakeArticulateCartServer::_tb [private]

Definition at line 55 of file fake_articulate_cart_server.py.

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

• fake_articulate_cart_server.py