Functions | |
def | bin |
take max force magnitude within a bin size | |
def | calculate_derived_quantities |
def | compute_segway_motion_mag |
def | decompose_forces_and_recover_mechanism_state |
def | end_effector_poses_from_log |
Recovers end effector pose in global coordinate frame taking into account the segway's motion and robot's kinematics. | |
def | find_circle_center_from_log |
Find the circle's center. | |
def | ft_to_camera |
Transform a force reading to camera coord frame. | |
def | fts_to_camera |
Transform force readings to camera coord frame. | |
def | gradient |
shortens x by 2. | |
def | interpolate_1d |
def | kinematic_params |
computes vel and acc for the mechanism returns lists. | |
def | linear_distances |
def | linear_mechanism_configurations_from_global_poses |
def | rotary_angles |
given a list of 1d time arrays, find the sequence that started first and subtract all sequences from its first time recording def equalize_times(list_of_time_arrays): start_times = [] end_times = [] for tarray in list_of_time_arrays: start_times.append(tarray[0]) end_times.append(tarray[-1]) | |
def | rotary_mechanism_configurations_from_global_poses |
def | segment_as_dict |
def | velocity |
Moved to hrl_lib def filter(alist, indices): rlist = [] for i in indices: rlist.append(alist[i]) return rlist. | |
Variables | |
tuple | a = np.arange(0, 3, .1) |
equalize_times = dp.equalize_times | |
filter = dp.filter | |
gradient = dp.gradient | |
histogram = dp.histogram | |
histogram_get_bin_numb = dp.histogram_get_bin_numb | |
interpolate_1d = dp.interpolate_1d | |
random_color = dd.random_color |
def modeling_forces.mf_common.bin | ( | poses_list, | |
ftan_list | |||
) |
take max force magnitude within a bin size
Definition at line 363 of file mf_common.py.
def modeling_forces.mf_common.calculate_derived_quantities | ( | ler_result, | |
smooth_window | |||
) |
Definition at line 134 of file mf_common.py.
Definition at line 296 of file mf_common.py.
def modeling_forces.mf_common.decompose_forces_and_recover_mechanism_state | ( | d, | |
type = 'rotary' |
|||
) |
d | data log dictionary |
Definition at line 278 of file mf_common.py.
Recovers end effector pose in global coordinate frame taking into account the segway's motion and robot's kinematics.
def account_for_segway_motion_from_log(d):
Definition at line 329 of file mf_common.py.
def modeling_forces.mf_common.find_circle_center_from_log | ( | d, | |
actual_cartesian, | |||
plot = False |
|||
) |
Find the circle's center.
actual_cartesian | end effector poses in global frame |
d | a log dictionary |
Definition at line 338 of file mf_common.py.
def modeling_forces.mf_common.ft_to_camera | ( | force_tool, | |
hand_rot_matrix, | |||
number | |||
) |
Transform a force reading to camera coord frame.
hand_rot_matrix | - rotation matrix for camera to hand checker. |
number | - checkerboard number (1, 2, 3 or 4) |
Definition at line 240 of file mf_common.py.
def modeling_forces.mf_common.fts_to_camera | ( | combined_dict | ) |
Transform force readings to camera coord frame.
Definition at line 254 of file mf_common.py.
def modeling_forces.mf_common.gradient | ( | t, | |
x | |||
) |
def modeling_forces.mf_common.interpolate_1d | ( | x, | |
y, | |||
xquery | |||
) |
Definition at line 112 of file mf_common.py.
def modeling_forces.mf_common.kinematic_params | ( | mech_x_l, | |
time_list, | |||
smooth_window | |||
) |
computes vel and acc for the mechanism returns lists.
Definition at line 78 of file mf_common.py.
def modeling_forces.mf_common.linear_distances | ( | mechanism_positions | ) |
mechanism_positions | list of 3x1 vectors |
Definition at line 227 of file mf_common.py.
def modeling_forces.mf_common.linear_mechanism_configurations_from_global_poses | ( | pts_2d, | |
center | |||
) |
Definition at line 304 of file mf_common.py.
def modeling_forces.mf_common.rotary_angles | ( | mechanism_rotations, | |
radius | |||
) |
given a list of 1d time arrays, find the sequence that started first and subtract all sequences from its first time recording def equalize_times(list_of_time_arrays): start_times = [] end_times = [] for tarray in list_of_time_arrays: start_times.append(tarray[0]) end_times.append(tarray[-1])
min_start = np.min(start_times) max_end = np.max(end_times)
adjusted_list_of_time_arrays = [] for tarray in list_of_time_arrays: adjusted_list_of_time_arrays.append(tarray - min_start)
return adjusted_list_of_time_arrays, min_start, max_end
mechanism_rotations | list of 3x3 rotation matrices |
Definition at line 215 of file mf_common.py.
def modeling_forces.mf_common.rotary_mechanism_configurations_from_global_poses | ( | pts_2d, | |
center | |||
) |
Definition at line 313 of file mf_common.py.
def modeling_forces.mf_common.segment_as_dict | ( | segments | ) |
Definition at line 186 of file mf_common.py.
def modeling_forces.mf_common.velocity | ( | kin_info, | |
smooth_window | |||
) |
Moved to hrl_lib def filter(alist, indices): rlist = [] for i in indices: rlist.append(alist[i]) return rlist.
def gradient(t, x): #pdb.set_trace() dx = x[:, 2:] - x[:, 0:-2] dt = t[0, 2:] - t[0, 0:-2] dx_dt = np.multiply(dx, 1/dt) #pdb.set_trace() dx_dt = np.column_stack((dx_dt[:,0], dx_dt)) dx_dt = np.column_stack((dx_dt, dx_dt[:,-1])) return dx_dt
Definition at line 61 of file mf_common.py.
tuple modeling_forces::mf_common::a = np.arange(0, 3, .1) |
Definition at line 384 of file mf_common.py.
Definition at line 23 of file mf_common.py.
Definition at line 18 of file mf_common.py.
Definition at line 19 of file mf_common.py.
Definition at line 22 of file mf_common.py.
Definition at line 21 of file mf_common.py.
Definition at line 20 of file mf_common.py.
Definition at line 24 of file mf_common.py.