hrl_fabric_based_tactile_sensor::fabric_skin_registration Namespace Reference

Functions
def	compute_bias
def	plot_taxel_registration_dict
Variables
	ang = j*angle_along_circum+offset_along_circum
int	angle_along_circum = 2
tuple	d = ut.load_pickle('taxel_registration_dict.pkl')
tuple	dat = rdc.get_raw_data(True)
float	dist_along_axis = 0.04
tuple	min_idx = np.argmin(dat-bias_mn)
int	n_axis = 3
int	n_circum = 5
	n_taxels = n_circum*n_axis
float	offset_along_axis = 0.02
tuple	offset_along_circum = math.radians(0)
tuple	quat = tr.matrix_to_quaternion(rot_mat)
float	rad = 0.04
tuple	rdc = spc.RawDataClient('/fabric_skin/taxels/raw_data')
tuple	rot_mat = tr.Rz(-ang)
tuple	t = Transform()
tuple	tar = None_TransformArrayResponse()
string	tf_link_name = '/wrist_LEFT'
tuple	x = rad*math.cos(ang)
tuple	y = rad*math.sin(ang)
	z = offset_along_axis+i*dist_along_axis

---

Function Documentation

def hrl_fabric_based_tactile_sensor.fabric_skin_registration.compute_bias	(		rdc,
			n
	)

Definition at line 29 of file fabric_skin_registration.py.

def hrl_fabric_based_tactile_sensor.fabric_skin_registration.plot_taxel_registration_dict	(		d,
			color
	)

Definition at line 17 of file fabric_skin_registration.py.

---

Variable Documentation

hrl_fabric_based_tactile_sensor::fabric_skin_registration::ang = j*angle_along_circum+offset_along_circum

Definition at line 94 of file fabric_skin_registration.py.

int hrl_fabric_based_tactile_sensor::fabric_skin_registration::angle_along_circum = 2

Definition at line 63 of file fabric_skin_registration.py.

dictionary hrl_fabric_based_tactile_sensor::fabric_skin_registration::d = ut.load_pickle('taxel_registration_dict.pkl')

Definition at line 48 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::dat = rdc.get_raw_data(True)

Definition at line 92 of file fabric_skin_registration.py.

float hrl_fabric_based_tactile_sensor::fabric_skin_registration::dist_along_axis = 0.04

Definition at line 62 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::min_idx = np.argmin(dat-bias_mn)

Definition at line 93 of file fabric_skin_registration.py.

int hrl_fabric_based_tactile_sensor::fabric_skin_registration::n_axis = 3

Definition at line 58 of file fabric_skin_registration.py.

int hrl_fabric_based_tactile_sensor::fabric_skin_registration::n_circum = 5

Definition at line 57 of file fabric_skin_registration.py.

hrl_fabric_based_tactile_sensor::fabric_skin_registration::n_taxels = n_circum*n_axis

Definition at line 68 of file fabric_skin_registration.py.

float hrl_fabric_based_tactile_sensor::fabric_skin_registration::offset_along_axis = 0.02

Definition at line 65 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::offset_along_circum = math.radians(0)

Definition at line 66 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::quat = tr.matrix_to_quaternion(rot_mat)

Definition at line 100 of file fabric_skin_registration.py.

float hrl_fabric_based_tactile_sensor::fabric_skin_registration::rad = 0.04

Definition at line 61 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::rdc = spc.RawDataClient('/fabric_skin/taxels/raw_data')

Definition at line 86 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::rot_mat = tr.Rz(-ang)

Definition at line 99 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::t = Transform()

Definition at line 73 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::tar = None_TransformArrayResponse()

Definition at line 71 of file fabric_skin_registration.py.

string hrl_fabric_based_tactile_sensor::fabric_skin_registration::tf_link_name = '/wrist_LEFT'

Definition at line 59 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::x = rad*math.cos(ang)

Definition at line 95 of file fabric_skin_registration.py.

tuple hrl_fabric_based_tactile_sensor::fabric_skin_registration::y = rad*math.sin(ang)

Definition at line 96 of file fabric_skin_registration.py.

hrl_fabric_based_tactile_sensor::fabric_skin_registration::z = offset_along_axis+i*dist_along_axis

Definition at line 97 of file fabric_skin_registration.py.