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