Abstract class to be implemented when using equilibrium point control. More...
Public Member Functions | |
| def | clamp_ep |
| Takes an equilibrium point and clamps it to reasonable control values. | |
| def | control_ep |
| Commands the arm to move towards the specified equilibrium point. | |
| def | generate_ep |
| Generates a new equilibrium point. | |
| def | terminate_check |
| Termination check for collision or goal reaching. | |
Detailed Description
Abstract class to be implemented when using equilibrium point control.
If generate_ep produces equilibrium points which are used by control_ep to move the arm, this object can be passed into EPC.epc_motion to control the arm. Equilibrium points can be of any type so long as generate_ep, control_ep, and clamp_ep are all written with this type in mind.
Definition at line 14 of file ep_control.py.
Member Function Documentation
| def equilibrium_point_control.ep_control.EPGenerator.clamp_ep | ( | self, | |
| ep | |||
| ) |
Takes an equilibrium point and clamps it to reasonable control values.
To be overwritten if needed by the child class.
- Parameters:
-
ep equilibrium point to clamp
- Returns:
- clamped equilibrium point
Reimplemented in test_ep_control.TestEPGenerator.
Definition at line 35 of file ep_control.py.
| def equilibrium_point_control.ep_control.EPGenerator.control_ep | ( | self, | |
| ep | |||
| ) |
Commands the arm to move towards the specified equilibrium point.
- Parameters:
-
ep equilibrium point to command the arm towards
Reimplemented in test_ep_control.TestEPGenerator.
Definition at line 27 of file ep_control.py.
Generates a new equilibrium point.
- Returns:
- (stop, ep) stop: EPStopConditions.CONTINUE or non-empty string to terminate ep: equilibrium point to be sent to control_function
Reimplemented in test_ep_control.TestEPGenerator.
Definition at line 21 of file ep_control.py.
Termination check for collision or goal reaching.
To be overwritten if needed by the child class.
- Returns:
- EPStopConditions.CONTINUE or non-empty string to terminate
Reimplemented in test_ep_control.TestEPGenerator.
Definition at line 42 of file ep_control.py.
The documentation for this class was generated from the following file: