life_test.commanders.arm_cmder.ArmCmder Class Reference

List of all members.

Public Member Functions
def	__init__
def	command_goal
def	command_recovery
	Unit testing only.
def	send_cmd
	Send random commands to arm.
Private Member Functions
def	_get_random_goal
Private Attributes
	_arm_client
	_fail_count
	_ranges
	_recovery_client
	_recovery_positions

---

Detailed Description

This class sends commands random to an arm using a JointTrajectoryAction. 
It sends "safe" commands by default. If the arm fails to move after a few tries, 
it sends an unsafe, predefined recovery command.

Definition at line 65 of file arm_cmder.py.

---

Constructor & Destructor Documentation

def life_test.commanders.arm_cmder.ArmCmder.__init__	(		self,
			arm_client,
			ranges,
			recovery_client,
			recovery_positions
	)

\param arm_client SimpleActionClient : Client to collision free arm commands
\param ranges { str : (float, float) } : Position ranges for each joint.
\param recovery_client SimpleActionClient : Client to unsafe arm controller
\param recovery_positions { str : float } : Recovery positions for each joint

Definition at line 71 of file arm_cmder.py.

---

Member Function Documentation

def life_test.commanders.arm_cmder.ArmCmder._get_random_goal

(

self

)

[private]

Definition at line 112 of file arm_cmder.py.

def life_test.commanders.arm_cmder.ArmCmder.command_goal	(		self,
			goal,
			duration = 15
	)

Returns:

GoalStatus

Definition at line 87 of file arm_cmder.py.

def life_test.commanders.arm_cmder.ArmCmder.command_recovery

(

self

)

Unit testing only.

Returns:

GoalStatus

Definition at line 98 of file arm_cmder.py.

def life_test.commanders.arm_cmder.ArmCmder.send_cmd

(

self

)

Send random commands to arm.

Definition at line 127 of file arm_cmder.py.

---

Member Data Documentation

life_test::commanders::arm_cmder.ArmCmder::_arm_client [private]

Definition at line 76 of file arm_cmder.py.

life_test::commanders::arm_cmder.ArmCmder::_fail_count [private]

Definition at line 76 of file arm_cmder.py.

life_test::commanders::arm_cmder.ArmCmder::_ranges [private]

Definition at line 76 of file arm_cmder.py.

life_test::commanders::arm_cmder.ArmCmder::_recovery_client [private]

Definition at line 76 of file arm_cmder.py.

life_test::commanders::arm_cmder.ArmCmder::_recovery_positions [private]

Definition at line 76 of file arm_cmder.py.

---

The documentation for this class was generated from the following file:

• arm_cmder.py