pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm Class Reference

List of all members.

Public Member Functions
def	__init__
def	l0_rotate_base
	Rotate a vector from omni_link0 to base_footprint frame.
def	omni_pose_cb
	Callback for pose of omni.
def	omni_T_torso
	Transfrom from torso lift link to link omni base link, taking into account scaling.
def	send_transform_to_link_omni_and_pr2_frame
	Link this omni to pr2 frame.
def	set_control
	Set whether control should be enabled.
def	torso_T_omni
	Transform from omni base link to torso lift link taking into account scaling.
Public Attributes
	center_in_torso_frame
	enabled
	gripper_handler
	gripper_tip_frame
	kPos
	kPos_close
	kVel
	omni_fb
	omni_name
	pr2_pub
	prev_dt
	scale_omni_l0
	scaling_in_base_frame
	tfbroadcast
	tflistener
	tip_tq
	tip_tt
	X_BOUNDS
	zero_out_forces

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Detailed Description

Definition at line 186 of file pr2_omni_teleop.py.

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Constructor & Destructor Documentation

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.__init__	(		self,
			omni_name,
			pr2_control_topic,
			gripper_control_topic,
			gripper_tip_frame,
			center_in_torso_frame,
			scaling_in_base_frame,
			tfbroadcast,
			tflistener
	)

Definition at line 188 of file pr2_omni_teleop.py.

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Member Function Documentation

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.l0_rotate_base	(		self,
			vec_base
	)

Rotate a vector from omni_link0 to base_footprint frame.

Definition at line 247 of file pr2_omni_teleop.py.

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.omni_pose_cb	(		self,
			msg
	)

Callback for pose of omni.

Definition at line 293 of file pr2_omni_teleop.py.

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.omni_T_torso	(		self,
			torso_mat
	)

Transfrom from torso lift link to link omni base link, taking into account scaling.

Definition at line 273 of file pr2_omni_teleop.py.

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.send_transform_to_link_omni_and_pr2_frame

(

self

)

Link this omni to pr2 frame.

Definition at line 239 of file pr2_omni_teleop.py.

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.set_control	(		self,
			s
	)

Set whether control should be enabled.

Definition at line 283 of file pr2_omni_teleop.py.

def pr2_omni_telop.pr2_omni_teleop.ControlPR2Arm.torso_T_omni	(		self,
			omni_tip,
			msg_frame
	)

Transform from omni base link to torso lift link taking into account scaling.

Definition at line 255 of file pr2_omni_teleop.py.

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Member Data Documentation

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::center_in_torso_frame

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::enabled

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::gripper_handler

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::gripper_tip_frame

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::kPos

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::kPos_close

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::kVel

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::omni_fb

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::omni_name

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::pr2_pub

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::prev_dt

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::scale_omni_l0

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::scaling_in_base_frame

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::tfbroadcast

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::tflistener

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::tip_tq

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::tip_tt

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::X_BOUNDS

Definition at line 188 of file pr2_omni_teleop.py.

pr2_omni_telop::pr2_omni_teleop.ControlPR2Arm::zero_out_forces

Definition at line 188 of file pr2_omni_teleop.py.

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

• pr2_omni_teleop.py