test_interpolated_ik_motion_planner Namespace Reference

Functions
def	call_get_interpolated_ik_motion_plan
def	check_cartesian_path_lists
def	create_pose_stamped
def	keypause
def	pplist
Variables
	approachmat = sideapproachmat
	approachpos = sideapproachpos
tuple	approachquat = list(tf.transformations.quaternion_from_matrix(approachmat))
tuple	collision_oper
	grasppos = sidegrasppos
list	graspquat = approachquat[:]
tuple	ordered_collision_operations = OrderedCollisionOperations([collision_oper,])
tuple	sideapproachmat
list	sideapproachpos = [.67, -.3, .01]
list	sidegrasppos = sideapproachpos[:]
list	start_angles = [0]

---

Function Documentation

def test_interpolated_ik_motion_planner.call_get_interpolated_ik_motion_plan	(		start_pose,
			goal_pose,
			start_angles,
			joint_names,
			pos_spacing = 0.01,
			rot_spacing = 0.1,
			consistent_angle = math.pi/9,
			collision_aware = 1,
			collision_check_resolution = 1,
			steps_before_abort = -1,
			num_steps = 0,
			ordered_collision_operations = None,
			frame = 'torso_lift_link',
			start_from_end = 0,
			max_joint_vels = [.2]*7,
			max_joint_accs = [.5]*7
	)

Definition at line 28 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.check_cartesian_path_lists	(		approachpos,
			approachquat,
			grasppos,
			graspquat,
			start_angles,
			pos_spacing = 0.01,
			rot_spacing = 0.1,
			consistent_angle = math.pi/9.,
			collision_aware = 1,
			collision_check_resolution = 1,
			steps_before_abort = -1,
			num_steps = 0,
			ordered_collision_operations = None,
			frame = 'torso_lift_link'
	)

Definition at line 99 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.create_pose_stamped	(		pose,
			frame_id = 'torso_lift_link'
	)

Definition at line 90 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.keypause

(

)

Definition at line 22 of file test_interpolated_ik_motion_planner.py.

def test_interpolated_ik_motion_planner.pplist

(

list

)

Definition at line 18 of file test_interpolated_ik_motion_planner.py.

---

Variable Documentation

test_interpolated_ik_motion_planner::approachmat = sideapproachmat

Definition at line 127 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::approachpos = sideapproachpos

Definition at line 128 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::approachquat = list(tf.transformations.quaternion_from_matrix(approachmat))

Definition at line 129 of file test_interpolated_ik_motion_planner.py.

tuple test_interpolated_ik_motion_planner::collision_oper

Initial value:

CollisionOperation(object1 = "points", \
                                        object2 = CollisionOperation.COLLISION_SET_ALL, \
                                        operation = CollisionOperation.DISABLE)

Definition at line 170 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::grasppos = sidegrasppos

Definition at line 132 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::graspquat = approachquat[:]

Definition at line 133 of file test_interpolated_ik_motion_planner.py.

tuple test_interpolated_ik_motion_planner::ordered_collision_operations = OrderedCollisionOperations([collision_oper,])

Definition at line 173 of file test_interpolated_ik_motion_planner.py.

tuple test_interpolated_ik_motion_planner::sideapproachmat

Initial value:

numpy.array([[0., -1., 0., 0.],  
                                   [1., 0., 0., 0.],
                                   [0., 0., 1., 0.],
                                   [0., 0., 0., 1.]])

Definition at line 122 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::sideapproachpos = [.67, -.3, .01]

Definition at line 126 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::sidegrasppos = sideapproachpos[:]

Definition at line 130 of file test_interpolated_ik_motion_planner.py.

list test_interpolated_ik_motion_planner::start_angles = [0]

Definition at line 121 of file test_interpolated_ik_motion_planner.py.