Functions
def	construct_sm
def	drange
def	get_outlet_to_plug
def	get_outlet_to_plug_ik_goal
def	get_wiggle_goal
Variables
tuple	asw
tuple	intro_server = IntrospectionServer('plug_in',sm_plug_in,'/RECHARGE/PLUG_IN')
tuple	sm_plug_in = construct_sm()

Function Documentation

def plug_in.construct_sm ( )

Definition at line 71 of file plug_in.py.

def plug_in.drange	(	start,
		stop,
		step
	)

Definition at line 33 of file plug_in.py.

def plug_in.get_outlet_to_plug	(	pose_base_outlet,
		pose_plug_gripper
	)

Get the pose from the outlet to the plug.

Definition at line 39 of file plug_in.py.

def plug_in.get_outlet_to_plug_ik_goal	(	ud,
		pose
	)

Get an IK goal for a pose in the frame of the outlet

Definition at line 49 of file plug_in.py.

def plug_in.get_wiggle_goal	(	ud,
		goal
	)

Definition at line 63 of file plug_in.py.

Variable Documentation

tuple plug_in::asw

Initial value:

00001 ActionServerWrapper(
00002             'plug_in', PlugInAction, sm_plug_in,
00003             succeeded_outcomes = ['succeeded'],
00004             aborted_outcomes = ['aborted'],
00005             preempted_outcomes = ['preempted'],
00006             expand_goal_slots = True,
00007             pack_result_slots = True)

Definition at line 303 of file plug_in.py.

tuple plug_in::intro_server = IntrospectionServer('plug_in',sm_plug_in,'/RECHARGE/PLUG_IN')

Definition at line 299 of file plug_in.py.

tuple plug_in::sm_plug_in = construct_sm()

Definition at line 296 of file plug_in.py.

Functions

Variables

Function Documentation

Variable Documentation