hrl_pr2_lib.hrl_controller_manager.HRLControllerManager Class Reference

List of all members.

Public Member Functions
def	__init__
def	command_interpolated_ik
def	move_arm_pose_biased
def	move_cartesian_ik
	move in Cartesian space using IK Cartesian interpolation if collision_aware, quits if the path is not collision-free if blocking, waits for completion, otherwise returns after sending the goal step_size is the step size for interpolation pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done
Public Attributes
	cart_params
	cartesian_cmd_pub
	cartesian_cmd_service
	cartesian_command_lock
	cartesian_command_thread
	cartesian_command_thread_running
	cartesian_controllers
	cartesian_desired_pose
	cartesian_moving_service
	cartesian_preempt_service
	gripper_action_client
	gripper_controller
	gripper_event_detector_action_client
	gripper_find_contact_action_client
	gripper_grab_action_client
	ik_utilities
	joint_action_client
	joint_controller
	joint_names
	joint_params
	joint_states_listener
	list_controllers_service
	load_controller_service
	move_arm_client
	switch_controller_service
	tf_listener
	unload_controller_service
	use_task_cartesian
	use_trajectory_cartesian
	using_slip_controller
	using_slip_detection
	whicharm

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Detailed Description

Definition at line 242 of file hrl_controller_manager.py.

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Constructor & Destructor Documentation

def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.__init__	(		self,
			whicharm,
			tf_listener = None,
			using_slip_controller = 0,
			using_slip_detection = 0
	)

Definition at line 244 of file hrl_controller_manager.py.

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Member Function Documentation

def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.command_interpolated_ik	(		self,
			end_pose,
			start_pose = None,
			collision_aware = 1,
			step_size = .02,
			max_joint_vel = .05,
			joints_bias = None,
			bias_radius = 0.0
	)

Definition at line 407 of file hrl_controller_manager.py.

def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.move_arm_pose_biased	(		self,
			pose_stamped,
			joints_bias = [0.]*7,
			max_joint_vel = 0.2,
			blocking = 1,
			init_angs = [0.]*7
	)

Definition at line 479 of file hrl_controller_manager.py.

def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.move_cartesian_ik	(		self,
			goal_pose,
			collision_aware = 0,
			blocking = 1,
			step_size = .005,
			pos_thres = .02,
			rot_thres = .1,
			timeout = rospy.Duration(30.),
			settling_time = rospy.Duration(0.25),
			vel = .15,
			joints_bias = None,
			bias_radius = 0.0
	)

move in Cartesian space using IK Cartesian interpolation if collision_aware, quits if the path is not collision-free if blocking, waits for completion, otherwise returns after sending the goal step_size is the step size for interpolation pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done

Definition at line 454 of file hrl_controller_manager.py.

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Member Data Documentation

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cart_params

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_cmd_pub

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_cmd_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_command_lock

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_command_thread

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_command_thread_running

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_controllers

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_desired_pose

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_moving_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::cartesian_preempt_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::gripper_action_client

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::gripper_controller

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::gripper_event_detector_action_client

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::gripper_find_contact_action_client

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::gripper_grab_action_client

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::ik_utilities

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::joint_action_client

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::joint_controller

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::joint_names

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::joint_params

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::joint_states_listener

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::list_controllers_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::load_controller_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::move_arm_client

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::switch_controller_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::tf_listener

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::unload_controller_service

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::use_task_cartesian

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::use_trajectory_cartesian

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::using_slip_controller

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::using_slip_detection

Definition at line 244 of file hrl_controller_manager.py.

hrl_pr2_lib::hrl_controller_manager.HRLControllerManager::whicharm

Definition at line 244 of file hrl_controller_manager.py.

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The documentation for this class was generated from the following file:

• hrl_controller_manager.py