plug_in Namespace Reference

Functions
def	construct_sm
def	drange
def	get_outlet_to_plug
def	get_outlet_to_plug_ik_goal
def	get_wiggle_goal
Variables
tuple	asw
tuple	intro_server = IntrospectionServer('plug_in',sm_plug_in,'/RECHARGE/PLUG_IN')
tuple	sm_plug_in = construct_sm()

---

Function Documentation

def plug_in::construct_sm

(

)

Definition at line 71 of file plug_in.py.

def plug_in::drange	(		start,
			stop,
			step
	)

Definition at line 33 of file plug_in.py.

def plug_in::get_outlet_to_plug	(		pose_base_outlet,
			pose_plug_gripper
	)

Get the pose from the outlet to the plug.

Definition at line 39 of file plug_in.py.

def plug_in::get_outlet_to_plug_ik_goal	(		ud,
			pose
	)

Get an IK goal for a pose in the frame of the outlet

Definition at line 49 of file plug_in.py.

def plug_in::get_wiggle_goal	(		ud,
			goal
	)

Definition at line 63 of file plug_in.py.

---

Variable Documentation

tuple plug_in::asw

Initial value:

ActionServerWrapper(
            'plug_in', PlugInAction, sm_plug_in,
            succeeded_outcomes = ['succeeded'],
            aborted_outcomes = ['aborted'],
            preempted_outcomes = ['preempted'],
            expand_goal_slots = True,
            pack_result_slots = True)

Definition at line 302 of file plug_in.py.

tuple plug_in::intro_server = IntrospectionServer('plug_in',sm_plug_in,'/RECHARGE/PLUG_IN')

Definition at line 298 of file plug_in.py.

tuple plug_in::sm_plug_in = construct_sm()

Definition at line 295 of file plug_in.py.