joint_trajectory_file_playback.Trajectory Class Reference

List of all members.

Public Member Functions
def	__init__
def	parse_file
def	start
def	stop
def	wait
Private Member Functions
def	_add_point
def	_clean_line
def	_execute_gripper_commands
def	_feedback
def	_get_trajectory_flag
def	_set_trajectory_flag
Private Attributes
	_arm_trajectory_started
	_gripper_rate
	_l_arm
	_l_goal
	_l_grip
	_l_gripper
	_left_client
	_lock
	_param_ns
	_r_arm
	_r_goal
	_r_grip
	_r_gripper
	_right_client
	_slow_move_offset
	_trajectory_start_offset

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Detailed Description

Definition at line 59 of file joint_trajectory_file_playback.py.

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Constructor & Destructor Documentation

def joint_trajectory_file_playback.Trajectory.__init__

(

self

)

Definition at line 60 of file joint_trajectory_file_playback.py.

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Member Function Documentation

def joint_trajectory_file_playback.Trajectory._add_point	(		self,
			positions,
			side,
			time
	)		[private]

Appends trajectory with new point

@param positions: joint positions
@param side: limb to command point
@param time: time from start for point in seconds

Definition at line 166 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory._clean_line	(		self,
			line,
			joint_names
	)		[private]

Cleans a single line of recorded joint positions

@param line: the line described in a list to process
@param joint_names: joint name keys

@return command: returns dictionary {joint: value} of valid commands
@return line: returns list of current line values stripped of commas

Definition at line 141 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory._execute_gripper_commands

(

self

)

[private]

Definition at line 123 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory._feedback	(		self,
			data
	)		[private]

Definition at line 258 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory._get_trajectory_flag

(

self

)

[private]

Definition at line 270 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory._set_trajectory_flag	(		self,
			value = False
	)		[private]

Definition at line 265 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory.parse_file	(		self,
			filename
	)

Parses input file into FollowJointTrajectoryGoal format

@param filename: input filename

Definition at line 187 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory.start

(

self

)

Sends FollowJointTrajectoryAction request

Definition at line 277 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory.stop

(

self

)

Preempts trajectory execution by sending cancel goals

Definition at line 288 of file joint_trajectory_file_playback.py.

def joint_trajectory_file_playback.Trajectory.wait

(

self

)

Waits for and verifies trajectory execution result

Definition at line 303 of file joint_trajectory_file_playback.py.

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Member Data Documentation

joint_trajectory_file_playback.Trajectory::_arm_trajectory_started [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_gripper_rate [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_l_arm [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_l_goal [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_l_grip [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_l_gripper [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_left_client [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_lock [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_param_ns [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_r_arm [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_r_goal [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_r_grip [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_r_gripper [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_right_client [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_slow_move_offset [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

joint_trajectory_file_playback.Trajectory::_trajectory_start_offset [private]

Definition at line 60 of file joint_trajectory_file_playback.py.

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

• joint_trajectory_file_playback.py