Public Member Functions
def	__init__
def	approach_location
def	approach_perpendicular_to_surface
	Drive so that we are perpendicular to a wall at point_bl (radii voi_radius) stop at dist_approach.
def	camera_change_detect
	Application Specific Behaviors.
def	close_gripper
def	create_arm_poses
	Scripty Behaviors.
def	drawer
def	drawer_push
def	drive_approach_behavior
	Mobility Behaviors.
def	driving_posture
def	get_behavior_by_task
	Behavior Indexing Functions.
def	light_rocker_push
def	light_switch
def	location_approach_driving
def	look_at
def	manipulation_posture
def	move_base_planner
def	open_gripper
def	tuck
def	turn_to_point
def	untuck
Public Attributes
	behaviors
	driving_param
	folded_pose
	l0
	l1
	l2
	laser_scan
	left_tucked
	optical_frame
	prosilica
	r0
	right_tucked
	robot
	start_location_drawer
	start_location_light_switch
	tf_listener
	wide_angle_camera_left
	wide_angle_configure
Static Public Attributes
tuple	bounded_dist = np.max(point_dist - dist_far, 0)
tuple	map_T_base_link = tfu.transform('map', 'base_link', self.tf_listener)
tuple	point_close_bl = (point_bl / point_dist)
tuple	point_close_map = tfu.transform_points(map_T_base_link, point_close_bl)
tuple	point_dist = np.linalg.norm(point_bl)
tuple	point_map = tfu.transform_points(map_T_base_link, point_bl)
tuple	rvalue

Detailed Description

Definition at line 157 of file application_behaviors.py.

Constructor & Destructor Documentation

def trf_learn.application_behaviors.ApplicationBehaviorsDB.__init__	(	self,
		optical_frame,
		tf_listener = `None`
	)

Definition at line 159 of file application_behaviors.py.

Member Function Documentation

def trf_learn.application_behaviors.ApplicationBehaviorsDB.approach_location	(	self,
		point_bl,
		coarse_stop,
		fine_stop,
		voi_radius = `.2`
	)

Definition at line 427 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.approach_perpendicular_to_surface	(	self,
		point_bl,
		voi_radius,
		dist_approach
	)

Drive so that we are perpendicular to a wall at point_bl (radii voi_radius) stop at dist_approach.

Definition at line 386 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.camera_change_detect	(	self,
		threshold,
		f,
		args
	)

Application Specific Behaviors.

Definition at line 504 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.close_gripper ( self )

Definition at line 342 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.create_arm_poses ( self )

Scripty Behaviors.

Definition at line 298 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.drawer	(	self,
		point
	)

Definition at line 759 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.drawer_push	(	self,
		point_bl
	)

Definition at line 678 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.drive_approach_behavior	(	self,
		point_bl,
		dist_far
	)

Mobility Behaviors.

Drive using within a dist_far distance of point_bl

Definition at line 364 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.driving_posture	(	self,
		task_type
	)

Definition at line 272 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.get_behavior_by_task	(	self,
		task_type
	)

Behavior Indexing Functions.

Definition at line 195 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.light_rocker_push	(	self,
		point,
		pressure,
		visual_change_thres,
		offset
	)

Definition at line 629 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.light_switch	(	self,
		point,
		point_offset,
		press_contact_pressure,
		press_pressure,
		press_distance,
		visual_change_thres
	)

Definition at line 547 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.location_approach_driving	(	self,
		task,
		point_bl
	)

Definition at line 465 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.look_at	(	self,
		point_bl,
		block = `True`
	)

Definition at line 352 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.manipulation_posture	(	self,
		task_type
	)

Definition at line 235 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.move_base_planner	(	self,
		trans,
		rot
	)

Definition at line 488 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.open_gripper ( self )

Definition at line 347 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.tuck ( self )

Definition at line 330 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.turn_to_point	(	self,
		point_bl,
		block = `True`
	)

Definition at line 459 of file application_behaviors.py.

def trf_learn.application_behaviors.ApplicationBehaviorsDB.untuck ( self )

Definition at line 318 of file application_behaviors.py.

Member Data Documentation

trf_learn::application_behaviors.ApplicationBehaviorsDB::behaviors

Definition at line 159 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::bounded_dist = np.max(point_dist - dist_far, 0) [static]

Definition at line 372 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::driving_param

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::folded_pose

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::l0

Definition at line 298 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::l1

Definition at line 298 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::l2

Definition at line 298 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::laser_scan

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::left_tucked

Definition at line 298 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::map_T_base_link = tfu.transform('map', 'base_link', self.tf_listener) [static]

Definition at line 366 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::optical_frame

Definition at line 159 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::point_close_bl = (point_bl / point_dist) [static]

Definition at line 373 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::point_close_map = tfu.transform_points(map_T_base_link, point_close_bl) [static]

Definition at line 374 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::point_dist = np.linalg.norm(point_bl) [static]

Definition at line 371 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::point_map = tfu.transform_points(map_T_base_link, point_bl) [static]

Definition at line 367 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::prosilica

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::r0

Definition at line 298 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::right_tucked

Definition at line 298 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::robot

Definition at line 159 of file application_behaviors.py.

tuple trf_learn::application_behaviors.ApplicationBehaviorsDB::rvalue [static]

Initial value:

self.robot.base.set_pose(point_close_map.T.A1.tolist(), \
                                          r_current_map, '/map', block=True)

Definition at line 375 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::start_location_drawer

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::start_location_light_switch

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::tf_listener

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::wide_angle_camera_left

Definition at line 159 of file application_behaviors.py.

trf_learn::application_behaviors.ApplicationBehaviorsDB::wide_angle_configure

Definition at line 159 of file application_behaviors.py.

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

application_behaviors.py

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation