Public Member Functions | |
def | __init__ |
def | destroy |
def | get_pose |
def | reset |
def | set_new_pose |
def | update |
Private Member Functions | |
def | _add_6dof_marker |
def | _close_gripper_cb |
def | _get_mesh_marker_color |
def | _get_name |
def | _is_hand_open |
def | _is_reachable |
def | _make_6dof_control |
def | _make_gripper_marker |
def | _marker_feedback_cb |
def | _marker_moved |
def | _move_pose_to_cb |
def | _move_to_cb |
def | _open_gripper_cb |
Static Private Member Functions | |
def | _copy_pose |
def | _get_matrix_from_pose |
def | _get_pose_from_transform |
def | _is_the_same |
def | _make_mesh_marker |
def | _offset_pose |
def | _pose2array |
Private Attributes | |
_arm | |
_current_pose | |
_is_control_visible | |
_lock | |
_menu_control | |
_menu_handler | |
_name | |
_pose | |
_prev_is_reachable | |
Static Private Attributes | |
_im_server = None |
Marker for controlling arm of robot.
Definition at line 50 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker.__init__ | ( | self, | |
arm | |||
) |
Args: arm (Arm): Arm object for the robot's arm.
Definition at line 55 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._add_6dof_marker | ( | self, | |
int_marker, | |||
is_fixed | |||
) | [private] |
Adds a 6 DoF control marker to the interactive marker. Args: int_marker (InteractiveMarker) is_fixed (bool): Looks like whether position is fixed (?). Currently only passed as True.
Definition at line 472 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._close_gripper_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for closing gripper. Args: feedback (InteractiveMarkerFeedback): Unused
Definition at line 350 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._copy_pose | ( | pose | ) | [static, private] |
Copies pose msg Args: pose (PoseStamped) Returns: PoseStamped
Definition at line 225 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._get_matrix_from_pose | ( | pose | ) | [static, private] |
Returns the transformation matrix for given pose. Args: pose (PoseStamped) Returns: Matrix3x3
Definition at line 187 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._get_mesh_marker_color | ( | self | ) | [private] |
Gets the color for the mesh marker (thing that looks like a gripper) for this step. A simple implementation of this will return one color for reachable poses, another for unreachable ones. Future implementations may provide further visual cues. Returns: ColorRGBA: The color for the gripper mesh for this step.
Definition at line 526 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._get_name | ( | self | ) | [private] |
Generates the unique name for the marker. Returns: str: A human-readable unique name for the marker.
Definition at line 456 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._get_pose_from_transform | ( | transform | ) | [static, private] |
Returns pose for transformation matrix. Args: transform (Matrix3x3) Returns: PoseStamped
Definition at line 170 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._is_hand_open | ( | self | ) | [private] |
Returns whether the gripper is open Returns: bool
Definition at line 464 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._is_reachable | ( | self | ) | [private] |
Checks and returns whether there is an IK solution for this marker pose Returns: bool: Whether this action step is reachable.
Definition at line 411 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._is_the_same | ( | pose1, | |
pose2, | |||
tol = 0.001 |
|||
) | [static, private] |
Checks if poses are the same within tolerance Args: pose1 (Pose) pose2 (Pose) tol (float, optional) Returns: bool
Definition at line 259 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._make_6dof_control | ( | self, | |
name, | |||
orientation, | |||
is_move, | |||
is_fixed | |||
) | [private] |
Creates and returns one component of the 6dof controller. Args: name (str): Name for the control orientation (Quaternion): How the control should be oriented. is_move (bool): Looks like whether the marker moves the object (?). Currently passed as True for moving markers, False for rotating ones. is_fixed (bool): Looks like whether position is fixed (?). Currently always passed as True. Returns: InteractiveMarkerControl
Definition at line 495 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._make_gripper_marker | ( | self, | |
control, | |||
is_hand_open = False |
|||
) | [private] |
Makes a gripper marker, adds it to control, returns control. Args: control (InteractiveMarkerControl): IM Control we're using. is_hand_open (bool, optional): Whether the gripper is open. Defaults to False (closed). Returns: InteractiveMarkerControl: The passed control.
Definition at line 542 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._make_mesh_marker | ( | color | ) | [static, private] |
Creates and returns a mesh marker. Args: color (ColorRGBA) Returns: Marker
Definition at line 277 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._marker_feedback_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for when an event occurs on the marker. Args: feedback (InteractiveMarkerFeedback)
Definition at line 314 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._marker_moved | ( | self | ) | [private] |
Returns whether marker has moved Returns: bool
Definition at line 298 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._move_pose_to_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for moving gripper marker to current pose. Args: feedback (InteractiveMarkerFeedback): Unused
Definition at line 402 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._move_to_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for when moving to a pose is requested. Args: feedback (InteractiveMarkerFeedback): Unused
Definition at line 363 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._offset_pose | ( | pose, | |
constant = 1 |
|||
) | [static, private] |
Offsets the world pose for visualization. Args: pose (PoseStamped): The pose to offset. constant (int, optional): How much to scale the set offset by (scales DEFAULT_OFFSET). Defaults to 1. Returns: PoseStamped: The offset pose.
Definition at line 204 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._open_gripper_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for opening gripper. Args: feedback (InteractiveMarkerFeedback): Unused
Definition at line 337 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker._pose2array | ( | p | ) | [static, private] |
Converts pose to array Args: p (PoseStamped) Returns: numpy.array
Definition at line 245 of file arm_control_marker.py.
Removes marker from the world.
Definition at line 136 of file arm_control_marker.py.
Returns the pose of the marker Returns: Pose
Definition at line 154 of file arm_control_marker.py.
Sets marker to current arm pose
Definition at line 132 of file arm_control_marker.py.
def fetch_arm_control.arm_control_marker.ArmControlMarker.set_new_pose | ( | self, | |
new_pose, | |||
is_offset = False |
|||
) |
Changes the pose of the marker to new_pose. Args: new_pose (PoseStamped)
Definition at line 141 of file arm_control_marker.py.
Updates marker/arm loop
Definition at line 81 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
fetch_arm_control::arm_control_marker.ArmControlMarker::_im_server = None [static, private] |
Definition at line 53 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.
Definition at line 58 of file arm_control_marker.py.