Inheritance diagram for hrl_pr2_lib.door_epc.Door_EPC:

Public Member Functions
def	__init__
def	cep_gen_control_radial_force
	constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.
def	common_stopping_conditions
def	init_log
def	log_state
def	mechanism_kinematics_rot_cb
def	pull
def	search_and_hook
def	stop_cb
	ROS callback.
Public Attributes
	cep_list
	cx_start
	cy_start
	cz_start
	ee_list
	eq_force_threshold
	eq_pt_not_moving_counter
	f_list
	fit_circle_lock
	force_traj_pub
	ft
	ftan_threshold
	hooked_location_moved
	init_tangent_vector
	mech_kinematics_lock
	mech_traj_pub
	mechanism_type
	open_ang_exceed_count
	prev_force_mag
	rad
	slip_count
	started_pulling_on_handle
	started_pulling_on_handle_count
	stopping_string

Detailed Description

Definition at line 19 of file door_epc.py.

Constructor & Destructor Documentation

def hrl_pr2_lib.door_epc.Door_EPC.__init__	(	self,
		robot
	)

Reimplemented from hrl_pr2_lib.epc.EPC.

Definition at line 20 of file door_epc.py.

Member Function Documentation

def hrl_pr2_lib.door_epc.Door_EPC.cep_gen_control_radial_force	(	self,
		arm,
		cep,
		cep_vel
	)

constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.

Parameters:

h_force_possible	- True (hook side) or False (hook up).
v_force_possible	- False (hook side) or True (hook up). Is maintaining a radial force possible or not (based on hook geometry and orientation)
cep_vel	- tangential velocity of the cep in m/s

Definition at line 107 of file door_epc.py.

def hrl_pr2_lib.door_epc.Door_EPC.common_stopping_conditions ( self )

Definition at line 70 of file door_epc.py.

def hrl_pr2_lib.door_epc.Door_EPC.init_log ( self )

Definition at line 34 of file door_epc.py.

def hrl_pr2_lib.door_epc.Door_EPC.log_state	(	self,
		arm
	)

Definition at line 44 of file door_epc.py.

def hrl_pr2_lib.door_epc.Door_EPC.mechanism_kinematics_rot_cb	(	self,
		mk
	)

Definition at line 91 of file door_epc.py.

def hrl_pr2_lib.door_epc.Door_EPC.pull	(	self,
		arm,
		force_threshold,
		cep_vel,
		mechanism_type = `''`
	)

Definition at line 248 of file door_epc.py.

def hrl_pr2_lib.door_epc.Door_EPC.search_and_hook	(	self,
		arm,
		hook_loc,
		hooking_force_threshold = `5.`,
		hit_threshold = `2.`,
		hit_motions = `1`,
		hook_direction = `'left'`
	)