generate_calibration_positions Namespace Reference

Functions
def	getIk
def	main
def	qmult
def	rpy2q
def	tadd
Variables
string	NODE = 'arm_ik_node'
string	PKG = 'cob_calibration_executive'

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Function Documentation

def generate_calibration_positions::getIk	(		arm_ik,
			t,
			q,
			link,
			seed = None
	)

query arm_ik server for joint_position which put arm_7_link to pose (t, q)

@param arm_ik: arm_ik service proxy
@param t: translation
@param q: rotation as quaternion
@param link: frame in which pose (t, q) is defined
@param seed: initial joint positions for ik calculation, in None current joint pos of arm is used.

@return: tuple of joint_positions or None if ik was not found

Definition at line 71 of file generate_calibration_positions.py.

def generate_calibration_positions::main

(

)

Definition at line 159 of file generate_calibration_positions.py.

def generate_calibration_positions::qmult	(		q1,
			q2
	)

Shortcut function to multiply two quaternions q1 and q2

Definition at line 143 of file generate_calibration_positions.py.

def generate_calibration_positions::rpy2q	(		r,
			p,
			y,
			axes = None
	)

Shortcut function to convert rpy to quaternion

Definition at line 149 of file generate_calibration_positions.py.

def generate_calibration_positions::tadd	(		t1,
			t2
	)

Shortcut function to add two translations t1 and t2

Definition at line 137 of file generate_calibration_positions.py.

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Variable Documentation

string generate_calibration_positions::NODE = 'arm_ik_node'

Definition at line 57 of file generate_calibration_positions.py.

string generate_calibration_positions::PKG = 'cob_calibration_executive'

Definition at line 56 of file generate_calibration_positions.py.