listens to PressureState messages More...
Public Member Functions | |
def | __init__ |
def | front_columns_touching |
report whether each column of 5 elements on each sensor's front (from +z side to -z side) is in contact | |
def | front_rows_touching |
report whether each row of 3 elements on each sensor's front (from base to tip) is in contact | |
def | get_readings |
get copies of the raw readings | |
def | get_relative_readings |
get the readings relative to the thresholds (no zeroing of values that are below) | |
def | get_sensor_status |
get readings, thresholded and categorized | |
def | get_thresholded_readings |
get copies of the thresholded readings | |
def | pplist |
pretty-print list to string | |
def | print_sensor_status |
print the current readings, thresholded and categorized | |
def | regions_touching |
report whether various regions are touching (tip, plus_z_side, neg_z_side, front, back) for each sensor | |
def | sensor_callback |
callback: store the PressureState messages as they come in | |
def | set_thresholds |
run this when you're sure you're not touching anything, to set the noise threshold | |
def | test_sensor_thresholds |
test sensor sensitivity | |
Public Attributes | |
front_threshold_buffer | |
gripper | |
l_readings | |
l_thres | |
l_threshold | |
lock | |
r_readings | |
r_thres | |
r_threshold | |
side_threshold_buffer | |
threshold_buffers |
listens to PressureState messages
Definition at line 52 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.__init__ | ( | self, | |
gripper | |||
) |
Definition at line 54 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.front_columns_touching | ( | self, | |
l_readings = None , |
|||
r_readings = None |
|||
) |
report whether each column of 5 elements on each sensor's front (from +z side to -z side) is in contact
Definition at line 244 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.front_rows_touching | ( | self, | |
l_readings = None , |
|||
r_readings = None |
|||
) |
report whether each row of 3 elements on each sensor's front (from base to tip) is in contact
Definition at line 222 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.get_readings | ( | self | ) |
get copies of the raw readings
Definition at line 109 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.get_relative_readings | ( | self | ) |
get the readings relative to the thresholds (no zeroing of values that are below)
Definition at line 119 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.get_sensor_status | ( | self, | |
l_readings = None , |
|||
r_readings = None |
|||
) |
get readings, thresholded and categorized
Definition at line 193 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.get_thresholded_readings | ( | self | ) |
get copies of the thresholded readings
Definition at line 95 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.pplist | ( | self, | |
list | |||
) |
pretty-print list to string
Definition at line 168 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.print_sensor_status | ( | self, | |
l_readings = None , |
|||
r_readings = None |
|||
) |
print the current readings, thresholded and categorized
Definition at line 173 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.regions_touching | ( | self, | |
l_readings = None , |
|||
r_readings = None |
|||
) |
report whether various regions are touching (tip, plus_z_side, neg_z_side, front, back) for each sensor
Definition at line 204 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.sensor_callback | ( | self, | |
pressurestate | |||
) |
callback: store the PressureState messages as they come in
Definition at line 87 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.set_thresholds | ( | self, | |
short = 0 |
|||
) |
run this when you're sure you're not touching anything, to set the noise threshold
Definition at line 129 of file hand_sensor_listeners.py.
def pr2_gripper_reactive_approach.hand_sensor_listeners.FingertipSensorListener.test_sensor_thresholds | ( | self | ) |
test sensor sensitivity
Definition at line 160 of file hand_sensor_listeners.py.
pr2_gripper_reactive_approach::hand_sensor_listeners.FingertipSensorListener::front_threshold_buffer |
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.
Definition at line 54 of file hand_sensor_listeners.py.