simple_robot_control::arm::Arm Class Reference
List of all members.
Detailed Description
Definition at line 58 of file arm.py.
Member Function Documentation
| def simple_robot_control::arm::Arm::__init__ |
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self, |
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side | |
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| def simple_robot_control::arm::Arm::getIK |
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self, |
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goalPose, |
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link_name, |
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seedAngles | |
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Calls inverse kinematics service for the arm.
goalPose - Pose Stamped message showing desired position of link in coord system
linkName - goal Pose target link name - (r_wrist_roll_link or l_wrist_roll_link)
startAngles - seed angles for IK
Definition at line 104 of file arm.py.
| def simple_robot_control::arm::Arm::getJointAngles |
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| def simple_robot_control::arm::Arm::getJointNames |
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Contacts param server to get controller joints
Definition at line 93 of file arm.py.
| def simple_robot_control::arm::Arm::getState |
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Returns the current state of action client
Definition at line 89 of file arm.py.
| def simple_robot_control::arm::Arm::goToAngle |
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self, |
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angles, |
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time, |
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wait = True | |
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This method moves the arm to the specified joint angles. Users must make
sure to obey safe joint limits.
Definition at line 120 of file arm.py.
| def simple_robot_control::arm::Arm::goToPose |
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self, |
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pos, |
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orientation, |
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frame_id, |
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time, |
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wait = True, |
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seed_angles = False | |
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This method uses getIK to move the x_wrist_roll_link to the
specific point and orientation specified in frame_id's coordinates.
Time specifies the duration of the planned trajectory,
wait whether to block or not.
Definition at line 173 of file arm.py.
| def simple_robot_control::arm::Arm::goToPosition |
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self, |
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pos, |
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frame_id, |
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time, |
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wait = True | |
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This method uses getIK to move the x_wrist_roll_link to the
specific pos specified in frame_id's coordinates. Time specifies
the duration of the planned trajectory, wait whether to block or not.
Definition at line 166 of file arm.py.
| def simple_robot_control::arm::Arm::gripperToWrist |
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self, |
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pos, |
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orientation | |
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| def simple_robot_control::arm::Arm::makePose |
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self, |
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xyz, |
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orientation, |
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frameID | |
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This is a shortcut method for making pose stamped messages
Definition at line 200 of file arm.py.
| def simple_robot_control::arm::Arm::moveGripperToPose |
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self, |
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pos, |
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orientation, |
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frame_id, |
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time, |
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wait = True | |
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This method uses gripperToWrist() to calculate the pos_new of the wrist
so that the gripper is moved to the given pos and orientation.
Definition at line 186 of file arm.py.
| def simple_robot_control::arm::Arm::rotateWrist |
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self, |
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angle, |
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speed = 2.0, |
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wait = True, |
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velocity = 0.0 | |
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Rotates wrist by angle in radians. speed is the amount of time that it would take for one revolution.
Velocity sets explicit speed to be attained - careful! If velocity is to high, the wrist may rotate in
opposite direction first
Definition at line 138 of file arm.py.
| def simple_robot_control::arm::Arm::sendTraj |
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self, |
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traj, |
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wait = True | |
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Send the joint trajectory goal to the action server
Definition at line 82 of file arm.py.
Member Data Documentation
The documentation for this class was generated from the following file:
