push_away Namespace Reference

Functions
def	mat2pose
def	tf2mat
Variables
int	angle = 0
list	force_sensable = quat_mat[0:3, 0:3]
tuple	force_world = (w_T_6[0:3,0:3] * np.matrix([-2., 0, 0]).T)
tuple	listener = tf.TransformListener()
tuple	pos = np.matrix(tr.translation_from_matrix(tip_world))
tuple	qm = np.matrix(tr.quaternion_matrix(tr.quaternion_from_euler(0, math.pi, 0)))
tuple	quat_mat = np.matrix(tr.quaternion_matrix(rot))
tuple	r = rospy.Rate(100)
	tip_6 = tm*qm
	tip_world = w_T_6*tip_6
tuple	tm = np.matrix(tr.translation_matrix([-.134, 0, 0]))
tuple	w_T_6 = tf2mat(listener.lookupTransform('/world', '/omni1_link6', rospy.Time(0)))
	well_center = None
tuple	wpub = rospy.Publisher('force_feedback', Wrench)
tuple	wr = Wrench()

---

Function Documentation

def push_away.mat2pose

(

m

)

Definition at line 18 of file push_away.py.

def push_away.tf2mat

(

tf_trans

)

Definition at line 14 of file push_away.py.

---

Variable Documentation

tuple push_away::angle = 0

Definition at line 41 of file push_away.py.

list push_away::force_sensable = quat_mat[0:3, 0:3]

Definition at line 53 of file push_away.py.

tuple push_away::force_world = (w_T_6[0:3,0:3] * np.matrix([-2., 0, 0]).T)

Definition at line 50 of file push_away.py.

tuple push_away::listener = tf.TransformListener()

Definition at line 35 of file push_away.py.

tuple push_away::pos = np.matrix(tr.translation_from_matrix(tip_world))

Definition at line 48 of file push_away.py.

tuple push_away::qm = np.matrix(tr.quaternion_matrix(tr.quaternion_from_euler(0, math.pi, 0)))

Definition at line 44 of file push_away.py.

tuple push_away::quat_mat = np.matrix(tr.quaternion_matrix(rot))

Definition at line 52 of file push_away.py.

tuple push_away::r = rospy.Rate(100)

Definition at line 33 of file push_away.py.

push_away::tip_6 = tm*qm

Definition at line 46 of file push_away.py.

push_away::tip_world = w_T_6*tip_6

Definition at line 47 of file push_away.py.

tuple push_away::tm = np.matrix(tr.translation_matrix([-.134, 0, 0]))

Definition at line 45 of file push_away.py.

tuple push_away::w_T_6 = tf2mat(listener.lookupTransform('/world', '/omni1_link6', rospy.Time(0)))

Definition at line 43 of file push_away.py.

push_away::well_center = None

Definition at line 40 of file push_away.py.

tuple push_away::wpub = rospy.Publisher('force_feedback', Wrench)

Definition at line 32 of file push_away.py.

tuple push_away::wr = Wrench()

Definition at line 55 of file push_away.py.