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load the params for the Jtranspose Cartesian controllers (jt_task_controller) onto the param server More...
Public Member Functions | |
def | __init__ |
def | set_gains |
set the current controller gains by calling the setGains service | |
def | set_params |
set the current parameter values on the parameter server | |
def | set_params_to_defaults |
set the parameter values back to their defaults | |
def | set_params_to_gentle |
set the gains and max vels and accs lower, so the arm moves more gently/slowly | |
Public Attributes | |
base_frame | |
cname | |
gains_frame | |
gains_topic | |
rot_d | |
rot_p | |
set_gains_pub | |
task_controller | |
tip_frame | |
trans_d | |
trans_p | |
whicharm |
load the params for the Jtranspose Cartesian controllers (jt_task_controller) onto the param server
Definition at line 29 of file controller_params.py.
def pr2_gripper_reactive_approach::controller_params::JTCartesianTaskParams::__init__ | ( | self, | ||
whicharm, | ||||
task_controller = 0 | ||||
) |
Definition at line 31 of file controller_params.py.
def pr2_gripper_reactive_approach::controller_params::JTCartesianTaskParams::set_gains | ( | self, | ||
trans_p = None , |
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trans_d = None , |
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rot_p = None , |
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rot_d = None , |
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frame_id = None | ||||
) |
set the current controller gains by calling the setGains service
Definition at line 95 of file controller_params.py.
def pr2_gripper_reactive_approach::controller_params::JTCartesianTaskParams::set_params | ( | self | ) |
set the current parameter values on the parameter server
Definition at line 86 of file controller_params.py.
def pr2_gripper_reactive_approach::controller_params::JTCartesianTaskParams::set_params_to_defaults | ( | self, | ||
set_tip_frame = 1 , |
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set_params_on_server = 1 , |
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set_gains = 1 | ||||
) |
set the parameter values back to their defaults
Definition at line 57 of file controller_params.py.
def pr2_gripper_reactive_approach::controller_params::JTCartesianTaskParams::set_params_to_gentle | ( | self, | ||
set_tip_frame = 1 , |
||||
set_params_on_server = 1 , |
||||
set_gains = 1 | ||||
) |
set the gains and max vels and accs lower, so the arm moves more gently/slowly
Definition at line 71 of file controller_params.py.
Definition at line 40 of file controller_params.py.
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Definition at line 32 of file controller_params.py.