abst_acceptancetest.py
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00001 # -*- coding: utf-8 -*-
00002 
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2014, TORK (Tokyo Opensource Robotics Kyokai Association)
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
00010 # are met:
00011 #
00012 #  * Redistributions of source code must retain the above copyright
00013 #    notice, this list of conditions and the following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above
00015 #    copyright notice, this list of conditions and the following
00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
00018 #  * Neither the name of TORK. nor the
00019 #    names of its contributors may be used to endorse or promote products
00020 #    derived from this software without specific prior written permission.
00021 #
00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00033 # POSSIBILITY OF SUCH DAMAGE.
00034 
00035 import abc
00036 
00037 
00038 class AbstAcceptanceTest():
00039 
00040     _MSG_ERR_NOTIMPLEMENTED = 'The method is not implemented in the derived class'
00041 
00042     def __init__(self, robot_client, default_task_duration=7.0):
00043         '''
00044         @type robot_client: hironx_ros_bridge.ros_client.ROS_Client or
00045                             hrpsys.hrpsys_config.HrpsysConfigurator
00046         '''
00047         self._robotclient = robot_client
00048         self._default_task_duration = default_task_duration
00049 
00050     @abc.abstractmethod
00051     def go_initpos(self, default_task_duration=7.0):
00052         raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
00053 
00054     @abc.abstractmethod
00055     def set_joint_angles(self, joint_group, joint_angles,
00056                   msg_tasktitle=None, task_duration=7.0, do_wait=True):
00057         '''
00058         Move by passing joint angles of an arm.
00059 
00060         @type joint_group: str
00061         @type joint_angles: [double]
00062         @type msg_tasktitle: str
00063         @type task_duration: double
00064         '''
00065         raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
00066 
00067     @abc.abstractmethod
00068     def set_pose(self, joint_group, pose, rpy, msg_tasktitle=None,
00069                  task_duration=7.0, do_wait=True, ref_frame_name=None):
00070         '''
00071         @type rpy: [float]
00072         @param rpy: In radian.
00073         '''
00074         raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)
00075 
00076     @abc.abstractmethod
00077     def set_pose_relative(
00078                         self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
00079                         msg_tasktitle=None, task_duration=7.0, do_wait=True):
00080         '''        '''
00081         raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)


hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Thu Feb 21 2019 03:42:37