hrl_pr2_kinematics_tutorials::ft_viz Namespace Reference

Variables
tuple	ati_pub = rospy.Publisher('/ati_ft', FloatArray)
tuple	farr = FloatArray()
list	force = rmat*ft[0:3,:]
string	force_frame_id = 'r_wrist_roll_link'
float	force_scale = 0.1
tuple	ft = ft_client.read(fresh = True)
tuple	ft_client = ftc.FTClient('force_torque_ft2')
tuple	marker = get_marker_arrow(p_st, p_end, force_frame_id)
tuple	marker_pub = rospy.Publisher('/test_marker', Marker)
	p_end = p_st+force*force_scale
tuple	p_st = np.matrix([0.,0.,0.])
tuple	rmat = tr.Rx(math.radians(180.))

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Variable Documentation

tuple hrl_pr2_kinematics_tutorials::ft_viz::ati_pub = rospy.Publisher('/ati_ft', FloatArray)

Definition at line 15 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::farr = FloatArray()

Definition at line 31 of file ft_viz.py.

list hrl_pr2_kinematics_tutorials::ft_viz::force = rmat*ft[0:3,:]

Definition at line 22 of file ft_viz.py.

string hrl_pr2_kinematics_tutorials::ft_viz::force_frame_id = 'r_wrist_roll_link'

Definition at line 18 of file ft_viz.py.

float hrl_pr2_kinematics_tutorials::ft_viz::force_scale = 0.1

Definition at line 26 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::ft = ft_client.read(fresh = True)

Definition at line 20 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::ft_client = ftc.FTClient('force_torque_ft2')

Definition at line 12 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::marker = get_marker_arrow(p_st, p_end, force_frame_id)

Definition at line 28 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::marker_pub = rospy.Publisher('/test_marker', Marker)

Definition at line 14 of file ft_viz.py.

hrl_pr2_kinematics_tutorials::ft_viz::p_end = p_st+force*force_scale

Definition at line 27 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::p_st = np.matrix([0.,0.,0.])

Definition at line 17 of file ft_viz.py.

tuple hrl_pr2_kinematics_tutorials::ft_viz::rmat = tr.Rx(math.radians(180.))

Definition at line 21 of file ft_viz.py.