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

Inheritance diagram for hrl_pr2_kinematics_tutorials.epc.EPC:

Public Member Functions
def	__init__
def	epc_motion
def	pull_back
	Pull back along a straight line (-ve x direction)
def	pull_back_cartesian_control
	Pull back along a straight line (-ve x direction)
Public Attributes
	cep
	dist_left
	ea
	robot

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 10 of file epc.py.

Constructor & Destructor Documentation

def hrl_pr2_kinematics_tutorials.epc.EPC.__init__	(	self,
		robot
	)

Definition at line 11 of file epc.py.

def hrl_pr2_kinematics_tutorials.epc.EPC.epc_motion	(	self,
		equi_pt_generator,
		time_step,
		arm,
		arg_list,
		rapid_call_func = `None`,
		control_function = `None`
	)

Parameters:

equi_pt_generator,:	function that returns stop, ea where ea: equilibrium angles and stop: string which is '' for epc motion to continue
rapid_call_func,:	called in the time between calls to the equi_pt_generator can be used for logging, safety etc. returns string which is '' for epc motion to continue
time_step,:	time between successive calls to equi_pt_generator
arg_list	- list of arguments to be passed to the equi_pt_generator

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

Definition at line 21 of file epc.py.

def hrl_pr2_kinematics_tutorials.epc.EPC.pull_back	(	self,
		arm,
		ea,
		rot_mat,
		distance
	)

Pull back along a straight line (-ve x direction)

Parameters:

arm	- 'right_arm' or 'left_arm'
ea	- starting equilibrium angle.
rot_mat	- rotation matrix defining end effector pose
distance	- how far back to pull.

Definition at line 55 of file epc.py.

def hrl_pr2_kinematics_tutorials.epc.EPC.pull_back_cartesian_control	(	self,
		arm,
		cep,
		rot_mat,
		distance
	)

Pull back along a straight line (-ve x direction)

Parameters:

arm	- 'right_arm' or 'left_arm'
ea	- starting cep.
rot_mat	- rotation matrix defining end effector pose
distance	- how far back to pull.

Definition at line 82 of file epc.py.

Definition at line 55 of file epc.py.

Definition at line 55 of file epc.py.

Definition at line 55 of file epc.py.

Definition at line 11 of file epc.py.

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