pr2_utils.PR2Arm Class Reference

Inheritance diagram for pr2_utils.PR2Arm:

List of all members.

Public Member Functions
def	__init__
def	has_active_goal
def	pose_cartesian
def	pose_cartesian_tf
def	set_cart_pose
	Send a cartesian pose to *_cart controllers.
def	set_pose
def	set_poses
def	set_poses_monitored
def	set_posture
def	stop_trajectory_execution
Public Attributes
	arm
	cart_pose_pub
	cart_posure_pub
	client
	full_arm_name
	joint_controller_name
	kinematics
	POSTURES
	tf_listener

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Detailed Description

Definition at line 191 of file pr2_utils.py.

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Constructor & Destructor Documentation

def pr2_utils.PR2Arm.__init__	(		self,
			joint_provider,
			tf_listener,
			arm,
			use_kinematics = True
	)

Definition at line 195 of file pr2_utils.py.

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Member Function Documentation

def pr2_utils.PR2Arm.has_active_goal

(

self

)

Definition at line 269 of file pr2_utils.py.

def pr2_utils.PR2Arm.pose_cartesian	(		self,
			frame = 'base_link'
	)

Definition at line 296 of file pr2_utils.py.

def pr2_utils.PR2Arm.pose_cartesian_tf	(		self,
			frame = 'base_link'
	)

Definition at line 300 of file pr2_utils.py.

def pr2_utils.PR2Arm.set_cart_pose	(		self,
			trans,
			rot,
			frame,
			msg_time
	)

Send a cartesian pose to *_cart controllers.

Parameters:

trans	len 3 list
rot	len 3 list
frame	string
msg_time	float

Definition at line 235 of file pr2_utils.py.

def pr2_utils.PR2Arm.set_pose	(		self,
			pos,
			nsecs = 5.,
			block = True
	)

Definition at line 288 of file pr2_utils.py.

def pr2_utils.PR2Arm.set_poses	(		self,
			pos_mat,
			times,
			vel_mat = None,
			block = True
	)

Parameters:

pos_mat	column matrix of poses
times	array of times

Definition at line 248 of file pr2_utils.py.

def pr2_utils.PR2Arm.set_poses_monitored	(		self,
			pos_mat,
			times,
			vel_mat = None,
			block = True,
			time_look_ahead = .050
	)

Definition at line 276 of file pr2_utils.py.

def pr2_utils.PR2Arm.set_posture	(		self,
			posture_mat
	)

Definition at line 226 of file pr2_utils.py.

def pr2_utils.PR2Arm.stop_trajectory_execution

(

self

)

Definition at line 266 of file pr2_utils.py.

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Member Data Documentation

pr2_utils.PR2Arm::arm

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::cart_pose_pub

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::cart_posure_pub

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::client

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::full_arm_name

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::joint_controller_name

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::kinematics

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::POSTURES

Definition at line 195 of file pr2_utils.py.

pr2_utils.PR2Arm::tf_listener

Definition at line 195 of file pr2_utils.py.

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

• pr2_utils.py