load the params for the Jtranspose Cartesian controllers (jt_task_controller) onto the param server More...

Public Member Functions
def	__init__
def	set_gains
	set the current controller gains by calling the setGains service
def	set_params
	set the current parameter values on the parameter server
def	set_params_to_defaults
	set the parameter values back to their defaults
def	set_params_to_gentle
	set the gains and max vels and accs lower, so the arm moves more gently/slowly
Public Attributes
	base_frame
	cname
	gains_frame
	gains_topic
	rot_d
	rot_p
	set_gains_pub
	task_controller
	tip_frame
	trans_d
	trans_p
	whicharm

Detailed Description

load the params for the Jtranspose Cartesian controllers (jt_task_controller) onto the param server

Definition at line 29 of file controller_params.py.

Constructor & Destructor Documentation

def pr2_gripper_reactive_approach.controller_params.JTCartesianTaskParams.__init__	(	self,
		whicharm,
		task_controller = `0`
	)

Definition at line 31 of file controller_params.py.

def pr2_gripper_reactive_approach.controller_params.JTCartesianTaskParams.set_gains	(	self,
		trans_p = `None`,
		trans_d = `None`,
		rot_p = `None`,
		rot_d = `None`,
		frame_id = `None`
	)

set the current controller gains by calling the setGains service

Definition at line 95 of file controller_params.py.

def pr2_gripper_reactive_approach.controller_params.JTCartesianTaskParams.set_params ( self )

set the current parameter values on the parameter server

Definition at line 86 of file controller_params.py.

def pr2_gripper_reactive_approach.controller_params.JTCartesianTaskParams.set_params_to_defaults	(	self,
		set_tip_frame = `1`,
		set_params_on_server = `1`,
		set_gains = `1`
	)

set the parameter values back to their defaults

Definition at line 57 of file controller_params.py.

def pr2_gripper_reactive_approach.controller_params.JTCartesianTaskParams.set_params_to_gentle	(	self,
		set_tip_frame = `1`,
		set_params_on_server = `1`,
		set_gains = `1`
	)