Simple class containing the core EPC function: a control loop paradigm. More...

Public Member Functions
def	__init__
	Initializes variables and subscribers.
def	epc_motion
	Control loop for equilibrium point control.
Public Attributes
	epc_name
	pause_epc
	stop_epc
Private Member Functions
def	_pause_cb
	Subscriber callback for pausing the arm's motion.
def	_stop_cb
	Subscriber callback for stopping the arm's motion.

Detailed Description

Simple class containing the core EPC function: a control loop paradigm.

Definition at line 59 of file ep_control.py.

Constructor & Destructor Documentation

def equilibrium_point_control.ep_control.EPC.__init__	(	self,
		epc_name = `'epc'`
	)

Initializes variables and subscribers.

Definition at line 63 of file ep_control.py.

Member Function Documentation

def equilibrium_point_control.ep_control.EPC._pause_cb	(	self,
		msg
	)	`[private]`

Subscriber callback for pausing the arm's motion.

Definition at line 78 of file ep_control.py.

def equilibrium_point_control.ep_control.EPC._stop_cb	(	self,
		msg
	)	`[private]`

Subscriber callback for stopping the arm's motion.

Definition at line 72 of file ep_control.py.

def equilibrium_point_control.ep_control.EPC.epc_motion	(	self,
		ep_gen,
		time_step,
		timeout = `np.inf`
	)

Control loop for equilibrium point control.

For each time step, ep_gen provides 4 functions, a termination check, an ep generation step, a clamping step, and an ep control step. These functions are called in this order along with helper functionality for stopping and pausing control.

Parameters: