propagate_config Namespace Reference

Functions
def	angle_axis_to_RPY
def	epsEq
def	find_dh_param_offsets
def	mixed_to_float
def	parse_rpy
def	parse_xyz
def	pplist
def	quat_to_rpy
def	rpy_to_quat
Variables
	axis_xyz = None
tuple	calibrated_yaml_filename = rospy.myargv()
list	chains_to_remove = [x for x in dh_offsets.keys() if x not in system_default['dh_chains'].keys()]
dictionary	dh_joint_names
dictionary	dh_offsets
list	floatvect = [mixed_to_float(x) for x in rotvect]
list	foundjointnames = []
list	foundtransforms = []
tuple	initial_yaml_filename = rospy.myargv()
list	joint_lines = []
tuple	joint_offsets = dict(joint_offsets_list)
list	joint_offsets_list = []
int	lineind = 0
int	looking_for_calibration_pos = 0
int	looking_for_origin = 0
string	newline = "\t<origin rpy=\"%.10f %.10f %.10f\" xyz=\"%.10f %.10f %.10f\"/>"
tuple	next_origin_rpy = quat_to_rpy(total_q)
tuple	notfoundjointnames = joint_offsets.keys()
tuple	notfoundtransforms = transformdict.keys()
tuple	offset_q = transformations.quaternion_about_axis(joint_offsets[joint_name], axis_xyz)
string	oldlineending = ""
	origin_ind = None
tuple	origin_q = rpy_to_quat(origin_rpy)
	origin_rpy = None
	origin_xyz = None
tuple	outfile = file(output_filename, 'w')
tuple	output_filename = rospy.myargv()
tuple	robot_xml_filename = rospy.myargv()
string	search_string = "\" type="
int	searchind = 0
tuple	system_calibrated = yaml.load(file(calibrated_yaml_filename, 'r'))
tuple	system_default = yaml.load(file(initial_yaml_filename, 'r'))
list	tag_split = joint_lines[origin_ind]
tuple	total_q = transformations.quaternion_multiply(origin_q, offset_q)
tuple	transformdict = dict()
tuple	xmllines = file(robot_xml_filename, 'r')

---

Function Documentation

def propagate_config::angle_axis_to_RPY

(

vec

)

Definition at line 58 of file propagate_config.py.

def propagate_config::epsEq	(		value1,
			value2,
			eps = 1e-10
	)

Definition at line 23 of file propagate_config.py.

def propagate_config::find_dh_param_offsets

(

chain_name

)

Definition at line 44 of file propagate_config.py.

def propagate_config::mixed_to_float

(

mixed

)

Definition at line 30 of file propagate_config.py.

def propagate_config::parse_rpy

(

line

)

Definition at line 74 of file propagate_config.py.

def propagate_config::parse_xyz

(

line

)

Definition at line 77 of file propagate_config.py.

def propagate_config::pplist

(

list

)

Definition at line 18 of file propagate_config.py.

def propagate_config::quat_to_rpy

(

q

)

Definition at line 70 of file propagate_config.py.

def propagate_config::rpy_to_quat

(

rpy

)

Definition at line 67 of file propagate_config.py.

---

Variable Documentation

tuple propagate_config::axis_xyz = None

Definition at line 194 of file propagate_config.py.

tuple propagate_config::calibrated_yaml_filename = rospy.myargv()

Definition at line 90 of file propagate_config.py.

list propagate_config::chains_to_remove = [x for x in dh_offsets.keys() if x not in system_default['dh_chains'].keys()]

Definition at line 109 of file propagate_config.py.

dictionary propagate_config::dh_joint_names

Initial value:

{"right_arm_chain" : ['r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'],
                      "left_arm_chain"  : ['l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'],
                      "head_chain"      : ['head_pan_joint', 'head_tilt_joint'] }

Definition at line 104 of file propagate_config.py.

dictionary propagate_config::dh_offsets

Initial value:

{"right_arm_chain":[],
                  "left_arm_chain":[],
                  "head_chain":[]}

Definition at line 100 of file propagate_config.py.

list propagate_config::floatvect = [mixed_to_float(x) for x in rotvect]

Definition at line 129 of file propagate_config.py.

list propagate_config::foundjointnames = []

Definition at line 124 of file propagate_config.py.

list propagate_config::foundtransforms = []

Definition at line 145 of file propagate_config.py.

tuple propagate_config::initial_yaml_filename = rospy.myargv()

Definition at line 89 of file propagate_config.py.

list propagate_config::joint_lines = []

Definition at line 177 of file propagate_config.py.

tuple propagate_config::joint_offsets = dict(joint_offsets_list)

Definition at line 123 of file propagate_config.py.

list propagate_config::joint_offsets_list = []

Definition at line 120 of file propagate_config.py.

int propagate_config::lineind = 0

Definition at line 150 of file propagate_config.py.

int propagate_config::looking_for_calibration_pos = 0

Definition at line 152 of file propagate_config.py.

int propagate_config::looking_for_origin = 0

Definition at line 153 of file propagate_config.py.

tuple propagate_config::newline = "\t<origin rpy=\"%.10f %.10f %.10f\" xyz=\"%.10f %.10f %.10f\"/>"

Definition at line 221 of file propagate_config.py.

tuple propagate_config::next_origin_rpy = quat_to_rpy(total_q)

Definition at line 233 of file propagate_config.py.

tuple propagate_config::notfoundjointnames = joint_offsets.keys()

Definition at line 288 of file propagate_config.py.

tuple propagate_config::notfoundtransforms = transformdict.keys()

Definition at line 280 of file propagate_config.py.

tuple propagate_config::offset_q = transformations.quaternion_about_axis(joint_offsets[joint_name], axis_xyz)

Definition at line 231 of file propagate_config.py.

list propagate_config::oldlineending = ""

Definition at line 218 of file propagate_config.py.

propagate_config::origin_ind = None

Definition at line 197 of file propagate_config.py.

tuple propagate_config::origin_q = rpy_to_quat(origin_rpy)

Definition at line 230 of file propagate_config.py.

tuple propagate_config::origin_rpy = None

Definition at line 195 of file propagate_config.py.

tuple propagate_config::origin_xyz = None

Definition at line 196 of file propagate_config.py.

tuple propagate_config::outfile = file(output_filename, 'w')

Definition at line 149 of file propagate_config.py.

tuple propagate_config::output_filename = rospy.myargv()

Definition at line 92 of file propagate_config.py.

tuple propagate_config::robot_xml_filename = rospy.myargv()

Definition at line 91 of file propagate_config.py.

string propagate_config::search_string = "\" type="

Definition at line 156 of file propagate_config.py.

int propagate_config::searchind = 0

Definition at line 176 of file propagate_config.py.

tuple propagate_config::system_calibrated = yaml.load(file(calibrated_yaml_filename, 'r'))

Definition at line 96 of file propagate_config.py.

tuple propagate_config::system_default = yaml.load(file(initial_yaml_filename, 'r'))

Definition at line 95 of file propagate_config.py.

list propagate_config::tag_split = joint_lines[origin_ind]

Definition at line 216 of file propagate_config.py.

tuple propagate_config::total_q = transformations.quaternion_multiply(origin_q, offset_q)

Definition at line 232 of file propagate_config.py.

tuple propagate_config::transformdict = dict()

Definition at line 127 of file propagate_config.py.

tuple propagate_config::xmllines = file(robot_xml_filename, 'r')

Definition at line 148 of file propagate_config.py.