Detailed Description
Defines behaviour for ArmTrajectory primitive. This is for primitives where the arm moves to a series of poses.
Definition at line 93 of file arm_trajectory.py.
Constructor & Destructor Documentation
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.__init__ | ( | self, | |
| robot, | |||
| tf_listener, | |||
| im_server, | |||
number = None |
|||
| ) |
Args:
robot (Robot) : interface to lower level robot functionality
tf_listener (TransformListener)
im_server (InteractiveMarkerSerever)
number (int, optional): The number of this primitive in the
action sequence
Definition at line 100 of file arm_trajectory.py.
Member Function Documentation
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._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 974 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._convert_ref_frame | ( | self, | |
| arm_state | |||
| ) | [private] |
Convert arm_state to be in a different reference frame
Args:
arm_state (ArmState)
new_landmark (Landmark)
Returns:
ArmState
Definition at line 824 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._delete_primitive_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when delete is requested.
Args:
feedback (InteractiveMarkerFeedback): Unused
Definition at line 1051 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_arm_state_from_json | ( | json | ) | [static, private] |
Return ArmState msg from json
Args:
json (dict)
Returns:
ArmState
Definition at line 645 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_arm_state | ( | arm_state | ) | [static, private] |
Return json containing data of arm_state
Args:
arm_state (ArmState)
Returns:
json (dict)
Definition at line 569 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_landmark | ( | landmark | ) | [static, private] |
Return json containing data of landmark
Args:
landmark (Landmark)
Returns:
json (dict)
Definition at line 625 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_pose | ( | pose | ) | [static, private] |
Return json containing data of pose
Args:
pose (Pose)
Returns:
json (dict)
Definition at line 602 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_pose_stamped | ( | pose_stamped | ) | [static, private] |
Return json containing data of pose_stamped
Args:
pose_stamped (PoseStamped)
Returns:
json (dict)
Definition at line 587 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_landmark_from_json | ( | json | ) | [static, private] |
Return Landmark msg from json
Args:
json (dict)
Returns:
Landmark
Definition at line 663 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_marker_pose | ( | self | ) | [private] |
Returns the pose of the primitive.
Returns:
Pose
Definition at line 841 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_matrix_from_pose | ( | pose | ) | [static, private] |
Returns the transformation matrix for given pose.
Args:
pose (PoseStamped)
Returns:
Matrix3x3
Definition at line 749 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_pose_from_json | ( | json | ) | [static, private] |
Return Pose msg from json
Args:
json (dict)
Returns:
Pose
Definition at line 704 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_pose_from_transform | ( | transform | ) | [static, private] |
Returns pose for transformation matrix.
Args:
transform (Matrix3x3): (I think this is the correct type.
See ArmTrajectory as a reference for how to use.)
Returns:
Pose
Definition at line 766 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_pose_stamped_from_json | ( | json | ) | [static, private] |
Return PoseStamped msg from json
Args:
json (dict)
Returns:
PoseStamped
Definition at line 688 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_traj_pose | ( | self, | |
| index | |||
| ) | [private] |
Returns this trajectory's pose at index.
Args:
index (int): Which step in the trajectory to return the
pose from.
Returns:
Pose
Definition at line 1059 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._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 hte 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 996 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._make_sphere_marker | ( | self, | |
| uid, | |||
| pose, | |||
| frame_id, | |||
| radius | |||
| ) | [private] |
Creates and returns a sphere marker.
Args:
uid (int): The id to use for the marker.
pose (Pose): The pose of the marker.
frame_id (str): Frame the marker is associated with. (See
std_msgs/Header.msg for more info.)
radius (float): Amount to scale the marker by. Scales in all
directions (x, y, and z).
Returns:
Marker
Definition at line 1027 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._marker_feedback_cb | ( | self, | |
| feedback | |||
| ) | [private] |
Callback for when an event occurs on the marker.
Args:
feedback (InteractiveMarkerFeedback)
Definition at line 1087 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._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 ArmTrajectory._offset). Defaults to 1.
Returns:
PoseStamped: The offset pose.
Definition at line 726 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._update_menu | ( | self | ) | [private] |
Recreates the menu when something has changed.
Definition at line 787 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._update_viz_core | ( | self | ) | [private] |
Updates visualization after a change.
Definition at line 863 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.add_marker_callbacks | ( | self, | |
| click_cb, | |||
| delete_cb, | |||
| pose_change_cb, | |||
| action_change_cb | |||
| ) |
Adds marker to world
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 214 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.add_step | ( | self, | |
| arm_state, | |||
| gripper_state | |||
| ) |
Add step to trajectory
Args:
arm_state (ArmState)
gripper_state (GripperState.OPEN|GripperState.CLOSED)
Definition at line 495 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.build_from_json | ( | self, | |
| json | |||
| ) |
Fills out ArmTrajectory using json from db
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 174 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.change_ref_frame | ( | self, | |
| ref_type, | |||
| landmark | |||
| ) |
Sets new reference frame for primitive Args:
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 264 of file arm_trajectory.py.
Currently just a placeholder
Meant to return conditions that need to be met after a
primitive is executed in order for execution to be a success.
This could be something like "object must be 0.1m above surface"
Returns:
None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 203 of file arm_trajectory.py.
Currently just a placeholder
Meant to return conditions that need to be met before a
primitive can be executed. This could be something like
"There should only be one object" or something.
Returns:
None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 192 of file arm_trajectory.py.
Reduces the number of the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 490 of file arm_trajectory.py.
Execute this primitive
Returns
bool : Success of execution
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 359 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.get_absolute_marker_pose | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute pose of the primitive marker.
Args:
use_final (bool, optional). For trajectories only. Whether to
get the final pose in the trajectory. Defaults to True.
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 447 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.get_absolute_marker_position | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute position of the primitive marker.
Args:
use_final (bool, optional). For trajectories only. Whether to
get the final position in the trajectory. Defaults to
True.
Returns:
Point
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 473 of file arm_trajectory.py.
Returns the absolute pose of the primitive.
Args:
None
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 422 of file arm_trajectory.py.
Returns json representation of primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 151 of file arm_trajectory.py.
Returns the display name for the primitive.
Returns:
str: A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 524 of file arm_trajectory.py.
Returns number of primitive
Returns:
int
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 532 of file arm_trajectory.py.
Returns what number this primitive is in the sequence
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 339 of file arm_trajectory.py.
Returns the name string for the reference frame object of the
primitive.
Returns:
str|None: Under all normal circumstances, returns the str
reference frame name. Returns None in error.
Definition at line 272 of file arm_trajectory.py.
Return reference type of primitive
Returns:
ArmState.ROBOT_BASE, etc
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 556 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.get_relative_pose | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute pose of the primitive.
Args:
use_final (bool, optional). Whether to
get the final pose in the trajectory. Defaults to True.
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 409 of file arm_trajectory.py.
Return true if head busy
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 394 of file arm_trajectory.py.
Removes marker from the world.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 239 of file arm_trajectory.py.
Check if the marker control is visible
Returns
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 308 of file arm_trajectory.py.
Check if this primitive requires an object to be present
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 351 of file arm_trajectory.py.
Check if robot can physically reach all steps in trajectory
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 402 of file arm_trajectory.py.
Return whether or not primitive is selected
Returns
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 300 of file arm_trajectory.py.
Return whether or not marker is visible
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 247 of file arm_trajectory.py.
Return whether pose of primitive is editable
Returns:
bool : False
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 548 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.select | ( | self, | |
| is_selected | |||
| ) |
Set whether primitive is selected or not
Args:
is_selected (bool)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 283 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_control_visible | ( | self, | |
visible = True |
|||
| ) |
Set visibility of marker controls
Args:
visible (bool, optional)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 316 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_name | ( | self, | |
| name | |||
| ) |
Sets the display name for the primitive.
Args:
name (str) : A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 516 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_pose | ( | self, | |
| pose | |||
| ) |
CHanging pose of trajectory is currently not supported
Args:
pose (PoseStamped) : Unused
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 540 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_primitive_number | ( | self, | |
| num | |||
| ) |
Sets what number this primitive is in the sequence
Args:
num (int)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 343 of file arm_trajectory.py.
Adds marker for primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 225 of file arm_trajectory.py.
Updates and re-assigns coordinate frames when the world changes.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 255 of file arm_trajectory.py.
| def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.update_viz | ( | self, | |
check_reachable = True |
|||
| ) |
Updates visualization fully.
Args:
check_reachable (bool) : Unused
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 324 of file arm_trajectory.py.
Member Data Documentation
Definition at line 107 of file arm_trajectory.py.
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Definition at line 107 of file arm_trajectory.py.
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fetch_pbd_interaction::arm_trajectory.ArmTrajectory::_offset = DEFAULT_OFFSET [static, private] |
Definition at line 98 of file arm_trajectory.py.
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Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
The documentation for this class was generated from the following file: