Classes | Functions | Variables
qualification::analysis::hysteresis_analysis Namespace Reference

Classes

class  HysteresisAnalysisResult
class  HysteresisDirectionData
class  HysteresisParameters
class  HysteresisTestData
class  HysteresisTestData2
class  WristRollHysteresisParams
class  WristRollHysteresisTestData

Functions

def effort_analysis
 Analyzes test effort.
def get_test_value
def make_wrist_test_summary
def plot_effort
 Plot effort.
def plot_efforts
 Plot effort.
def plot_flex_effort
 Plots effort of wrist flex during qual.
def plot_velocities
 Plot velocities.
def plot_velocity
 Plot velocity.
def range_analysis
 Checks range of test.
def regression_analysis
 Checks slope of test data (effort v.
def velocity_analysis
 Analyzes velocity data.
def wrist_flex_analysis
 Analyzes flex effort during wrist difference test.
def wrist_hysteresis_data_present
 Checks wrist data before analysis.

Variables

string PKG = "qualification"
 Analyzes test data from joint hysteresis tests.

Function Documentation

Analyzes test effort.

To pass, our average efforts must lie within the tolerances of the min/max efforts and must have their std. dev. below the threshold (sd_max). All percentage quantities are calculated in percent of difference in effort: sd_value = numpy.std(effort) / (numpy.average(positive) - numpy.average(negative))

Effort tolerances is given by "tolerance". SD tolerance given by "sd_max". Both tolerances given in percent of effort.

Returns:
HysteresisAnalysisResult : Result of test

Definition at line 246 of file hysteresis_analysis.py.

def qualification.analysis.hysteresis_analysis.get_test_value (   name,
  value,
  minv,
  maxv 
)
Convert values to TestValue. Force converts all arguments to string.

Definition at line 121 of file hysteresis_analysis.py.

Returns:
str : Summary

Definition at line 788 of file hysteresis_analysis.py.

Plot effort.

Returns:
pr2_self_test_msgs/Plot :

Definition at line 468 of file hysteresis_analysis.py.

Plot effort.

Returns:
pr2_self_test_msgs/Plot[] :

Definition at line 513 of file hysteresis_analysis.py.

Plots effort of wrist flex during qual.

Returns:
pr2_self_test_msgs.Plot :

Definition at line 750 of file hysteresis_analysis.py.

Plot velocities.

Returns:
pr2_self_test_msgs/Plot[] :

Definition at line 579 of file hysteresis_analysis.py.

Plot velocity.

Returns:
pr2_self_test_msgs/Plot :

Definition at line 552 of file hysteresis_analysis.py.

Checks range of test.

To pass, we must be a continuous joint, or must have exceeded our min and max ranges.

Returns:
HysteresisAnalysisResult : Result of test

Definition at line 179 of file hysteresis_analysis.py.

Checks slope of test data (effort v.

position)

Some components have a "slope" to their position/effort curves. This checks that the slope is within range and the intercepts are OK. Slope value is given by "slope" field of params. Tolerance from "sd_max" Intercepts are "pos_effort" and "neg_effort" fields. Tolerance from "tolerance".

Returns:
HysteresisAnalysisResult : Result of test

Definition at line 408 of file hysteresis_analysis.py.

Analyzes velocity data.

Reports velocity RMS, Avg and STD, but doesn't enforce any pass/fail standard

Returns:
HysteresisAnalysisResult : Result of test

Definition at line 348 of file hysteresis_analysis.py.

Analyzes flex effort during wrist difference test.

The nominal flex effort during a wrist roll is zero. This helps determine wrist symmetry. Flex effort values must be within tolerance: * flex_max - Maximum allowable flex effort value * flex_sd - Std. dev. of the flex effort * flex_avg - Average value of flex effort All measured values must be less than their corresponding parameters. All parameters given in units of effort (Nm)

Returns:
HysteresisAnalysisResult : Result of test

Definition at line 678 of file hysteresis_analysis.py.

Checks wrist data before analysis.

Returns:
bool : True if OK to proceed

Definition at line 799 of file hysteresis_analysis.py.


Variable Documentation

Analyzes test data from joint hysteresis tests.

Author:
Kevin Watts

Definition at line 33 of file hysteresis_analysis.py.



qualification
Author(s): Kevin Watts (watts@willowgarage.com), Josh Faust (jfaust@willowgarage.com)
autogenerated on Sat Dec 28 2013 17:57:34