Public Member Functions | |
def | __init__ |
Constructor. | |
def | get_joint_angles |
Returns the current joint angle positions. | |
def | get_joint_efforts |
Returns the current joint efforts. | |
def | get_joint_state |
def | get_joint_velocities |
Returns the current joint velocities. |
Definition at line 202 of file joint_kinematics.py.
def pykdl_utils.joint_kinematics.JointKinematicsWait.__init__ | ( | self, | |
urdf, | |||
base_link, | |||
end_link, | |||
kdl_tree = None |
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) |
Constructor.
urdf | URDF object of robot. |
base_link | Name of the root link of the kinematic chain. |
end_link | Name of the end link of the kinematic chain. |
kdl_tree | Optional KDL.Tree object to use. If None, one will be generated from the URDF. |
timeout | Time in seconds to wait for the /joint_states topic. |
Reimplemented from pykdl_utils.kdl_kinematics.KDLKinematics.
Definition at line 211 of file joint_kinematics.py.
def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_angles | ( | self, | |
wrapped = False , |
|||
timeout = 1.0 |
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) |
Returns the current joint angle positions.
wrapped | If False returns the raw encoded positions, if True returns the angles with the forearm and wrist roll in the range -pi to pi |
Definition at line 228 of file joint_kinematics.py.
def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_efforts | ( | self, | |
timeout = 1.0 |
|||
) |
Returns the current joint efforts.
Definition at line 260 of file joint_kinematics.py.
def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_state | ( | self, | |
timeout = 1.0 |
|||
) |
Definition at line 214 of file joint_kinematics.py.
def pykdl_utils.joint_kinematics.JointKinematicsWait.get_joint_velocities | ( | self, | |
timeout = 1.0 |
|||
) |
Returns the current joint velocities.
Definition at line 244 of file joint_kinematics.py.