Public Member Functions
def	__init__
def	bias_guess
	Added function which biases the given angles towards a given configuration.
def	check_cartesian_path
def	run_biased_ik
	runs ik but tries to bias it towards the given bias configuration
Public Attributes
	error_code_dict
	marker_pub
	perception_running
	pose_id_set
	srvroot
	start_angles_list
	tf_listener
	whicharm
Private Attributes
	_check_state_validity_service
	_fk_service
	_ik_service
	_ik_service_with_collision
	_query_service

Detailed Description

Definition at line 13 of file hrl_controller_manager.py.

Constructor & Destructor Documentation

def hrl_pr2_lib.hrl_controller_manager.HRLIKUtilities.__init__	(	self,
		whicharm,
		tf_listener = `None`,
		wait_for_services = `1`
	)

Definition at line 17 of file hrl_controller_manager.py.

def hrl_pr2_lib.hrl_controller_manager.HRLIKUtilities.bias_guess	(	self,
		q,
		joints_bias,
		bias_radius
	)

Added function which biases the given angles towards a given configuration.

Definition at line 204 of file hrl_controller_manager.py.

def hrl_pr2_lib.hrl_controller_manager.HRLIKUtilities.check_cartesian_path	(	self,
		start_pose,
		end_pose,
		start_angles,
		pos_spacing = `0.01`,
		rot_spacing = `0.1`,
		consistent_angle = `math.pi/9.`,
		collision_aware = `1`,
		collision_check_resolution = `1`,
		steps_before_abort = `-1`,
		num_steps = `0`,
		ordered_collision_operations = `None`,
		start_from_end = `0`,
		IK_robot_state = `None`,
		link_padding = `None`,
		use_additional_start_angles = `0`,
		joints_bias = `None`,
		bias_radius = `0.0`
	)

Definition at line 99 of file hrl_controller_manager.py.

def hrl_pr2_lib.hrl_controller_manager.HRLIKUtilities.run_biased_ik	(	self,
		pose_stamped,
		joints_bias = `[0.]*7`,
		num_iters = `6`,
		init_angs = `[0.]*7`
	)