Classes | Functions | Variables
pr2_counterbalance_check::counterbalance_analysis Namespace Reference

Classes

class  CBPositionAnalysisData
class  CBRunAnalysisData
class  CounterbalanceAnalysisData
class  CounterbalanceAnalysisParams
 Stores parameters from CB analysis test. More...
class  CounterbalanceAnalysisResult
class  JointPositionAnalysisData

Functions

def _get_const_flex_effort
 Returns a list of lift positions, efforts for a given flex position (vary by lift)
def _get_const_lift_effort
def _get_flex_positions
def _get_lift_positions
def _get_mean_abs_effort
def _get_mean_effort
def _get_mean_sq_effort
def analyze_flex_efforts
 Checks shoulder flex efforts against params.
def analyze_lift_efforts
 Checks shoulder lift efforts against params.
def calc_cb_adjust
 Calculates CB adjustment.
def check_cb_adjustment
 Return CB adjustments to minimize total torque.
def get_efforts
 Get average efforts for CB test as a list.
def plot_effort_contour
 Gives effort contour plot of efforts by lift, flex position.
def plot_efforts_by_lift_position
 Plots CB efforts against shoulder lift position.

Variables

dictionary ok_dict = { False: 'FAIL', True: 'OK' }
string PKG = 'pr2_counterbalance_check'
 Analyzes counterbalance data.

Function Documentation

def pr2_counterbalance_check.counterbalance_analysis._get_const_flex_effort (   data,
  flex_index = 0,
  lift_calc = True 
) [private]

Returns a list of lift positions, efforts for a given flex position (vary by lift)

Definition at line 212 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_const_lift_effort (   data,
  lift_index = 0,
  lift_calc = True 
) [private]

Definition at line 225 of file counterbalance_analysis.py.

Definition at line 242 of file counterbalance_analysis.py.

Definition at line 249 of file counterbalance_analysis.py.

Definition at line 204 of file counterbalance_analysis.py.

Definition at line 208 of file counterbalance_analysis.py.

Definition at line 200 of file counterbalance_analysis.py.

Checks shoulder flex efforts against params.

Returns:
CounterbalanceAnalysisResult

Definition at line 372 of file counterbalance_analysis.py.

Checks shoulder lift efforts against params.

Returns:
CounterbalanceAnalysisResult

Definition at line 330 of file counterbalance_analysis.py.

Calculates CB adjustment.

Returns:
(secondary, arm_gimbal) : Turns CW

Definition at line 412 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.check_cb_adjustment (   params,
  data,
  model_file 
)

Return CB adjustments to minimize total torque.

Uses CB adjustment/torque value from the model file. Model file is generated by 'test_pr2_self_test/counterbalance_training.py'

Parameters:
paramsCounterbalanceAnalysisParams
dataCounterbalanceAnalysisData
str: Filename of model file

Definition at line 440 of file counterbalance_analysis.py.

Get average efforts for CB test as a list.

Parameters:
lift_calcbool : Lift or flex efforts

Definition at line 189 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.plot_effort_contour (   params,
  data,
  lift_calc = True 
)

Gives effort contour plot of efforts by lift, flex position.

Parameters:
paramsCounterbalanceAnalysisParams : Input params
dataCounterbalanceAnalysisData : Test Data
Returns:
qualification.msg.Plot : Plot message with contour

Definition at line 261 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.plot_efforts_by_lift_position (   params,
  data,
  flex_index = -1,
  lift_calc = True 
)

Plots CB efforts against shoulder lift position.

Parameters:
flex_indexint : Index of flex data to plot against
lift_calcbool : Lift efforts or flex efforts

Definition at line 297 of file counterbalance_analysis.py.


Variable Documentation

dictionary pr2_counterbalance_check::counterbalance_analysis::ok_dict = { False: 'FAIL', True: 'OK' }

Definition at line 53 of file counterbalance_analysis.py.

string pr2_counterbalance_check::counterbalance_analysis::PKG = 'pr2_counterbalance_check'

Analyzes counterbalance data.

Author:
Kevin Watts

Definition at line 38 of file counterbalance_analysis.py.



pr2_counterbalance_check
Author(s): Kevin Watts
autogenerated on Sat Dec 28 2013 17:30:27