Class defining the core EPC function and a few simple examples. More...

Public Member Functions
def	__init__
def	epc_motion
def	go_jep
	this function only makes sense for arms where we have Joint space Equilibrium Point Control.
def	pause_cb
def	stop_cb
Public Attributes
	pause_epc
	robot
	stop_epc

Detailed Description

Class defining the core EPC function and a few simple examples.

More complex behaviors that use EPC should have their own ROS packages.

Definition at line 21 of file epc.py.

Constructor & Destructor Documentation

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

Definition at line 22 of file epc.py.

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

Parameters:

ep_gen	- object of EP_Generator. can include any state that you want.
time_step,:	time between successive calls to equi_pt_generator
timeout	- time after which the epc motion will stop.

Returns:: stop (the string which has the reason why the epc motion stopped.), ea (last commanded equilibrium angles)

Definition at line 42 of file epc.py.

def equilibrium_point_control.epc.EPC.go_jep	(	self,
		goal_jep,
		speed = `math.radians(20)`
	)

this function only makes sense for arms where we have Joint space Equilibrium Point Control.

Definition at line 89 of file epc.py.

def equilibrium_point_control.epc.EPC.pause_cb	(	self,
		msg
	)

Definition at line 33 of file epc.py.

def equilibrium_point_control.epc.EPC.stop_cb	(	self,
		msg
	)

Definition at line 29 of file epc.py.

Definition at line 22 of file epc.py.

Definition at line 22 of file epc.py.

Definition at line 22 of file epc.py.

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