Classes | Functions | Variables
hironx_ros_bridge.hironx_client Namespace Reference

Classes

class  HIRONX
 
class  HrpsysConfigurator2
 

Functions

def _get_geometry (self, method, frame_name=None)
 A method only inteded for class-internal usage. More...
 
def delete_module (modname, paranoid=None)
 
def getCurrentPose (self, lname=None, frame_name=None)
 Returns the current physical pose of the specified joint. More...
 
def getReferencePose (self, lname=None, frame_name=None)
 Returns the current commanded pose of the specified joint. More...
 
def setTargetPose (self, gname, pos, rpy, tm, frame_name=None)
 Move the end-effector to the given absolute pose. More...
 

Variables

string _MSG_ASK_ISSUEREPORT = 'Your report to '
 
string _MSG_RESTART_QNX = 'You may want to restart QNX/ControllerBox afterward'
 
string default_frame_name = 'WAIST'
 JUST FOR TEST, REMOVE WHEN YOU MERGE. More...
 
 SWITCH_OFF = OpenHRP.RobotHardwareService.SWITCH_OFF
 
 SWITCH_ON = OpenHRP.RobotHardwareService.SWITCH_ON
 

Function Documentation

def hironx_ros_bridge.hironx_client._get_geometry (   self,
  method,
  frame_name = None 
)
private

A method only inteded for class-internal usage.

Since
: 315.12.1 or higher method: A Python function object.
Parameters
methodOne of the following Python function objects defined in class HrpsysConfigurator: [getCurrentPose, getCurrentPosition, getCurrentReference, getCurrentRPY, getReferencePose, getReferencePosition, getReferenceReference, getReferenceRPY]
frame_namestr: set reference frame name (available from version 315.2.5) : {str: [float]}
Returns
: Dictionary of the values for each kinematic group. Example (using getCurrentPosition):
[{CHEST_JOINT0: [0.0, 0.0, 0.0]},
 {HEAD_JOINT1: [0.0, 0.0, 0.5694999999999999]},
 {RARM_JOINT5: [0.3255751238415409, -0.18236314012331808, 0.06762452267747099]},
 {LARM_JOINT5: [0.3255751238415409, 0.18236314012331808, 0.06762452267747099]}]

Definition at line 90 of file hironx_client.py.

def hironx_ros_bridge.hironx_client.delete_module (   modname,
  paranoid = None 
)

Definition at line 58 of file hironx_client.py.

def hironx_ros_bridge.hironx_client.getCurrentPose (   self,
  lname = None,
  frame_name = None 
)

Returns the current physical pose of the specified joint.

cf. getReferencePose that returns commanded value.

eg.

     IN: robot.getCurrentPose('LARM_JOINT5')
     OUT: [-0.0017702356144599085,
      0.00019034630541264752,
      -0.9999984150158207,
      0.32556275164378523,
      0.00012155879975329215,
      0.9999999745367515,
       0.0001901314142046251,
       0.18236394191140365,
       0.9999984257434246,
       -0.00012122202968358842,
       -0.001770258707652326,
       0.07462472659364472,
       0.0,
       0.0,
       0.0,
       1.0]

lname: str

Parameters
lnameName of the link.
frame_namestr: set reference frame name (from 315.2.5) : list of float
Returns
: Rotational matrix and the position of the given joint in 1-dimensional list, that is:
         [a11, a12, a13, x,
          a21, a22, a23, y,
          a31, a32, a33, z,
           0,   0,   0,  1]

Definition at line 127 of file hironx_client.py.

def hironx_ros_bridge.hironx_client.getReferencePose (   self,
  lname = None,
  frame_name = None 
)

Returns the current commanded pose of the specified joint.

cf. getCurrentPose that returns physical pose.

lname: str

Parameters
lnameName of the link.
frame_namestr: set reference frame name (from 315.2.5) : list of float
Returns
: Rotational matrix and the position of the given joint in 1-dimensional list, that is:
         [a11, a12, a13, x,
          a21, a22, a23, y,
          a31, a32, a33, z,
           0,   0,   0,  1]

Definition at line 189 of file hironx_client.py.

def hironx_ros_bridge.hironx_client.setTargetPose (   self,
  gname,
  pos,
  rpy,
  tm,
  frame_name = None 
)

Move the end-effector to the given absolute pose.

All d* arguments are in meter.

Parameters
gnamestr: Name of the joint group. Case-insensitive
poslist of float: In meter.
rpylist of float: In radian.
tmfloat: Second to complete the command.
frame_namestr: Name of the frame that this particular command references to.
Returns
bool: False if unreachable.

Definition at line 223 of file hironx_client.py.

Variable Documentation

string hironx_ros_bridge.hironx_client._MSG_ASK_ISSUEREPORT = 'Your report to '
private

Definition at line 53 of file hironx_client.py.

string hironx_ros_bridge.hironx_client._MSG_RESTART_QNX = 'You may want to restart QNX/ControllerBox afterward'
private

Definition at line 56 of file hironx_client.py.

string hironx_ros_bridge.hironx_client.default_frame_name = 'WAIST'

JUST FOR TEST, REMOVE WHEN YOU MERGE.

Definition at line 88 of file hironx_client.py.

hironx_ros_bridge.hironx_client.SWITCH_OFF = OpenHRP.RobotHardwareService.SWITCH_OFF

Definition at line 52 of file hironx_client.py.

hironx_ros_bridge.hironx_client.SWITCH_ON = OpenHRP.RobotHardwareService.SWITCH_ON

Definition at line 51 of file hironx_client.py.



hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Mon Jun 10 2019 15:07:18