Variables | |
tuple | acc = dynutils.compute_derivative( vel, dt ) |
tuple | alphas = np.linspace( 0, 2 * np.pi, n + 1 ) |
client = l_jt_client) | |
dt = time/n; | |
tuple | dur = rospy.Time() |
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 | l_jt_client = dynutils.init_jt_client(arm = 'l') |
tuple | last_call = rospy.Time() |
tuple | n = int(time * 200) |
string | node_name = "wave_arm" |
tuple | pos = np.asarray( trajectory ) |
tuple | pose |
tuple | req = GetPositionIKRequest() |
tuple | res = ik_service( req ) |
float | time = 10.0 |
float | time_from_start = 5.0 |
list | trajectory = [] |
tuple | vel = dynutils.compute_derivative( pos, dt ) |
tuple | ys = np.cos( alphas ) |
tuple | zs = -np.sin( 2 * alphas ) |
tuple wave_arm::acc = dynutils.compute_derivative( vel, dt ) |
Definition at line 83 of file wave_arm.py.
list wave_arm::alphas = np.linspace( 0, 2 * np.pi, n + 1 ) |
Definition at line 39 of file wave_arm.py.
Definition at line 100 of file wave_arm.py.
wave_arm::dt = time/n; |
Definition at line 38 of file wave_arm.py.
tuple wave_arm::dur = rospy.Time() |
Definition at line 107 of file wave_arm.py.
tuple wave_arm::ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
Definition at line 32 of file wave_arm.py.
string wave_arm::ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
Definition at line 29 of file wave_arm.py.
tuple wave_arm::joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
Definition at line 28 of file wave_arm.py.
tuple wave_arm::joint_positions = [] |
Definition at line 53 of file wave_arm.py.
tuple wave_arm::l_jt_client = dynutils.init_jt_client(arm = 'l') |
Definition at line 97 of file wave_arm.py.
tuple wave_arm::last_call = rospy.Time() |
Definition at line 103 of file wave_arm.py.
tuple wave_arm::n = int(time * 200) |
Definition at line 37 of file wave_arm.py.
string wave_arm::node_name = "wave_arm" |
Definition at line 22 of file wave_arm.py.
tuple wave_arm::pos = np.asarray( trajectory ) |
Definition at line 79 of file wave_arm.py.
tuple wave_arm::pose |
00001 Pose( position = Point( 0.6, 0.20 + y, 0.0 + z ), 00002 orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )
Definition at line 56 of file wave_arm.py.
tuple wave_arm::req = GetPositionIKRequest() |
Definition at line 47 of file wave_arm.py.
tuple wave_arm::res = ik_service( req ) |
Definition at line 63 of file wave_arm.py.
float wave_arm::time = 10.0 |
Definition at line 36 of file wave_arm.py.
float wave_arm::time_from_start = 5.0 |
Definition at line 99 of file wave_arm.py.
list wave_arm::trajectory = [] |
Definition at line 46 of file wave_arm.py.
tuple wave_arm::vel = dynutils.compute_derivative( pos, dt ) |
Definition at line 82 of file wave_arm.py.
tuple wave_arm::ys = np.cos( alphas ) |
Definition at line 41 of file wave_arm.py.
tuple wave_arm::zs = -np.sin( 2 * alphas ) |
Definition at line 42 of file wave_arm.py.