Go to the source code of this file.
Namespaces | |
| namespace | circle |
Variables | |
| tuple | circle.acc = dynutils.compute_derivative( vel, dt ) |
| tuple | circle.alphas = np.linspace( 0, 2 * np.pi, n + 1 ) |
| circle.dt = time/n; | |
| tuple | circle.ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
| string | circle.ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
| tuple | circle.joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
| list | circle.joint_positions = [] |
| tuple | circle.n = int(time * 200) |
| string | circle.node_name = "circle_node" |
| tuple | circle.pos = np.asarray( trajectory ) |
| tuple | circle.pose |
| tuple | circle.req = GetPositionIKRequest() |
| tuple | circle.res = ik_service( req ) |
| tuple | circle.t = np.cumsum( [dt] * n ) |
| float | circle.time = 5.0 |
| list | circle.trajectory = [] |
| tuple | circle.vel = dynutils.compute_derivative( pos, dt ) |
| tuple | circle.ys = np.cos( alphas ) |
| tuple | circle.zs = -np.sin( alphas ) |