joint_torque_springs.JointSprings Class Reference

List of all members.

Public Member Functions
def	__init__
def	attach_springs
def	clean_shutdown
def	move_to_neutral
Private Member Functions
def	_update_forces
def	_update_parameters
Private Attributes
	_damping
	_dyn
	_init_state
	_limb
	_missed_cmds
	_pub_cuff_disable
	_rate
	_rs
	_springs
	_start_angles

---

Detailed Description

Virtual Joint Springs class for torque example.

@param limb: limb on which to run joint springs example
@param reconfig_server: dynamic reconfigure server

JointSprings class contains methods for the joint torque example allowing
moving the limb to a neutral location, entering torque mode, and attaching
virtual springs.

Definition at line 52 of file joint_torque_springs.py.

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Constructor & Destructor Documentation

def joint_torque_springs.JointSprings.__init__	(		self,
			limb,
			reconfig_server
	)

Definition at line 63 of file joint_torque_springs.py.

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Member Function Documentation

def joint_torque_springs.JointSprings._update_forces

(

self

)

[private]

Calculates the current angular difference between the start position
and the current joint positions applying the joint torque spring forces
as defined on the dynamic reconfigure server.

Definition at line 97 of file joint_torque_springs.py.

def joint_torque_springs.JointSprings._update_parameters

(

self

)

[private]

Definition at line 90 of file joint_torque_springs.py.

def joint_torque_springs.JointSprings.attach_springs

(

self

)

Switches to joint torque mode and attached joint springs to current
joint positions.

Definition at line 130 of file joint_torque_springs.py.

def joint_torque_springs.JointSprings.clean_shutdown

(

self

)

Switches out of joint torque mode to exit cleanly

Definition at line 155 of file joint_torque_springs.py.

def joint_torque_springs.JointSprings.move_to_neutral

(

self

)

Moves the limb to neutral location.

Definition at line 124 of file joint_torque_springs.py.

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Member Data Documentation

joint_torque_springs.JointSprings::_damping [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_dyn [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_init_state [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_limb [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_missed_cmds [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_pub_cuff_disable [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_rate [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_rs [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_springs [private]

Definition at line 63 of file joint_torque_springs.py.

joint_torque_springs.JointSprings::_start_angles [private]

Definition at line 63 of file joint_torque_springs.py.

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

• joint_torque_springs.py