Go to the source code of this file.
Namespaces | |
| namespace | figure8 |
Variables | |
| tuple | figure8.acc = dynutils.compute_derivative( vel, dt ) |
| tuple | figure8.alphas = np.linspace( 0, 2 * np.pi, n + 1 ) |
| figure8.dt = time/n; | |
| tuple | figure8.ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
| string | figure8.ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
| tuple | figure8.joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
| list | figure8.joint_positions = [] |
| tuple | figure8.n = int(time * 200) |
| string | figure8.node_name = "figure_8" |
| tuple | figure8.pos = np.asarray( trajectory ) |
| tuple | figure8.pose |
| tuple | figure8.req = GetPositionIKRequest() |
| tuple | figure8.res = ik_service( req ) |
| tuple | figure8.t = np.cumsum( [dt] * n ) |
| float | figure8.time = 10.0 |
| list | figure8.trajectory = [] |
| tuple | figure8.vel = dynutils.compute_derivative( pos, dt ) |
| tuple | figure8.ys = np.cos( alphas ) |
| tuple | figure8.zs = -np.sin( 2 * alphas ) |