assistive_teleop.ik_move.IKGoalSender Class Reference

List of all members.

Public Member Functions
def	__init__
def	form_ik_request
def	joint_state_cb
def	pose_cb
Public Attributes
	arm
	ik_client
	ik_info
	ik_info_proxy
	joint_state
	joint_state_lock
	joint_state_received
	joint_state_sub
	log_pub
	pose_sub
	traj_client

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Detailed Description

A class for performing IK with the PR2 

Definition at line 19 of file ik_move.py.

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Constructor & Destructor Documentation

def assistive_teleop.ik_move.IKGoalSender.__init__	(		self,
			arm
	)

Initialize IK Services, arm trajectory client, state, and
feedback

Definition at line 21 of file ik_move.py.

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Member Function Documentation

def assistive_teleop.ik_move.IKGoalSender.form_ik_request	(		self,
			ps
	)

Compose an IK request from ik solver info and pose goal

Definition at line 89 of file ik_move.py.

def assistive_teleop.ik_move.IKGoalSender.joint_state_cb	(		self,
			js_msg
	)

Update joint positions and velocities

Definition at line 58 of file ik_move.py.

def assistive_teleop.ik_move.IKGoalSender.pose_cb	(		self,
			ps
	)

Perform IK for a goal pose, and send action goal if acheivable

Definition at line 65 of file ik_move.py.

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Member Data Documentation

assistive_teleop::ik_move.IKGoalSender::arm

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::ik_client

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::ik_info

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::ik_info_proxy

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::joint_state

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::joint_state_lock

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::joint_state_received

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::joint_state_sub

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::log_pub

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::pose_sub

Definition at line 22 of file ik_move.py.

assistive_teleop::ik_move.IKGoalSender::traj_client

Definition at line 22 of file ik_move.py.

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

• ik_move.py