Package baxter_interface :: Module head :: Class Head

Class Head

object --+
         |
        Head

Interface class for the head on the Baxter Robot.

Used to control the head pan angle and to enable/disable the head nod action.

Instance Methods

[hide private]

__init__(self)
Constructor.

source code

_on_head_state(self, msg)

source code

float

pan(self)
Get the current pan angle of the head.

source code

bool

nodding(self)
Check if the head is currently nodding.

source code

bool

panning(self)
Check if the head is currently panning.

source code

set_pan(self, angle, speed=100, timeout=10.0)
Pan at the given speed to the desired angle.

source code

command_nod(self, timeout=5.0)
Command the head to nod once.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self)
(Constructor)

source code

Constructor.

Overrides: object.__init__

pan(self)

source code

Get the current pan angle of the head.

Returns: float: current angle in radians

nodding(self)

source code

Check if the head is currently nodding.

Returns: bool: True if the head is currently nodding, False otherwise.

panning(self)

source code

Check if the head is currently panning.

Returns: bool: True if the head is currently panning, False otherwise.

set_pan(self, angle, speed=100, timeout=10.0)

source code

Pan at the given speed to the desired angle.

Parameters:

angle (float) - Desired pan angle in radians.
speed (int) - Desired speed to pan at, range is 0-100 [100]
timeout (float) - Seconds to wait for the head to pan to the specified angle. If 0, just command once and return. [10]

command_nod(self, timeout=5.0)

source code

Command the head to nod once.

Parameters:

timeout (float) - Seconds to wait for the head to nod. If 0, just command once and return. [0]

Class Head

__init__(self) (Constructor)

pan(self)

nodding(self)

panning(self)

set_pan(self, angle, speed=100, timeout=10.0)

command_nod(self, timeout=5.0)

init(self)
(Constructor)