hrl_generic_arms.ep_trajectory_controller.EPArmController Class Reference

Equilbrium Point Control object used to execute a trajectory from the current EP to the end EP using a minimum jerk interpolation. More...

List of all members.

Public Member Functions
def	__init__
def	execute_interpolated_ep
Public Attributes
	arm
	time_step

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Detailed Description

Equilbrium Point Control object used to execute a trajectory from the current EP to the end EP using a minimum jerk interpolation.

Definition at line 47 of file ep_trajectory_controller.py.

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Constructor & Destructor Documentation

def hrl_generic_arms.ep_trajectory_controller.EPArmController.__init__	(		self,
			arm,
			time_step = 0.1,
			epc_name = 'epc_arm_controller'
	)

Definition at line 48 of file ep_trajectory_controller.py.

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Member Function Documentation

def hrl_generic_arms.ep_trajectory_controller.EPArmController.execute_interpolated_ep	(		self,
			end_ep,
			duration,
			blocking = True
	)

Definition at line 53 of file ep_trajectory_controller.py.

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Member Data Documentation

hrl_generic_arms::ep_trajectory_controller.EPArmController::arm

Definition at line 48 of file ep_trajectory_controller.py.

hrl_generic_arms::ep_trajectory_controller.EPArmController::time_step

Definition at line 48 of file ep_trajectory_controller.py.

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

• ep_trajectory_controller.py