graspingutils.graspingutils Class Reference

List of all members.

Public Member Functions
def	__init__
def	array_from_pose
def	callIKSolver
def	COB_to_OR
def	get_grasp_category
def	get_grasping_direction
def	get_grasps
def	get_ik_srv_name
def	get_ik_srv_type
def	joint_filter
def	matrix_from_pose
def	OR_to_COB
def	parse_cartesian_param
def	parse_cartesian_parameters
def	pose_from_matrix
def	rotation_matrix
def	sdh_tactil_sensor_result
def	set_pregrasp
def	set_pregrasp_offsets
def	valid_grasp
Public Attributes
	env_service_name
	ik_service
	ik_service_name
	is_cylindric_grasped_service
	is_grasped_aux
	is_grasped_service
	SetPlanningSceneDiffService
	simulation

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Detailed Description

Definition at line 19 of file graspingutils.py.

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Constructor & Destructor Documentation

def graspingutils.graspingutils.__init__	(		self,
			simulation = True
	)

Definition at line 21 of file graspingutils.py.

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Member Function Documentation

def graspingutils.graspingutils.array_from_pose	(		self,
			gp
	)

Definition at line 262 of file graspingutils.py.

def graspingutils.graspingutils.callIKSolver	(		self,
			current_pose,
			goal_pose
	)

Definition at line 209 of file graspingutils.py.

def graspingutils.graspingutils.COB_to_OR	(		self,
			values
	)

Definition at line 303 of file graspingutils.py.

def graspingutils.graspingutils.get_grasp_category	(		self,
			pre,
			g
	)

Definition at line 138 of file graspingutils.py.

def graspingutils.graspingutils.get_grasping_direction	(		self,
			matrix
	)

Definition at line 51 of file graspingutils.py.

def graspingutils.graspingutils.get_grasps	(		self,
			file_name
	)

Definition at line 83 of file graspingutils.py.

def graspingutils.graspingutils.get_ik_srv_name

(

self

)

Definition at line 31 of file graspingutils.py.

def graspingutils.graspingutils.get_ik_srv_type

(

self

)

Definition at line 34 of file graspingutils.py.

def graspingutils.graspingutils.joint_filter	(		self,
			finalconfig
	)

Definition at line 42 of file graspingutils.py.

def graspingutils.graspingutils.matrix_from_pose	(		self,
			gp
	)

Definition at line 241 of file graspingutils.py.

def graspingutils.graspingutils.OR_to_COB	(		self,
			values
	)

Definition at line 296 of file graspingutils.py.

def graspingutils.graspingutils.parse_cartesian_param	(		self,
			param,
			now = None
	)

Definition at line 161 of file graspingutils.py.

def graspingutils.graspingutils.parse_cartesian_parameters	(		self,
			arm_name,
			parameters
	)

Definition at line 178 of file graspingutils.py.

def graspingutils.graspingutils.pose_from_matrix	(		self,
			matrix
	)

Definition at line 245 of file graspingutils.py.

def graspingutils.graspingutils.rotation_matrix	(		self,
			obj
	)

Definition at line 278 of file graspingutils.py.

def graspingutils.graspingutils.sdh_tactil_sensor_result

(

self

)

Definition at line 313 of file graspingutils.py.

def graspingutils.graspingutils.set_pregrasp	(		self,
			t,
			category,
			pregrasp_offset
	)

Definition at line 328 of file graspingutils.py.

def graspingutils.graspingutils.set_pregrasp_offsets	(		self,
			category,
			pre,
			pregrasps_offsets
	)

Definition at line 349 of file graspingutils.py.

def graspingutils.graspingutils.valid_grasp	(		self,
			category
	)

Definition at line 79 of file graspingutils.py.

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Member Data Documentation

graspingutils.graspingutils::env_service_name

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::ik_service

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::ik_service_name

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::is_cylindric_grasped_service

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::is_grasped_aux

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::is_grasped_service

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::SetPlanningSceneDiffService

Definition at line 21 of file graspingutils.py.

graspingutils.graspingutils::simulation

Definition at line 21 of file graspingutils.py.

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

• graspingutils.py