pr2_counterbalance_check.counterbalance_analysis Namespace Reference

Classes
class	CBPositionAnalysisData
class	CBRunAnalysisData
class	CounterbalanceAnalysisData
class	CounterbalanceAnalysisParams
	Stores parameters from CB analysis test. More...
class	CounterbalanceAnalysisResult
class	JointPositionAnalysisData

Functions
def	_get_const_flex_effort (data, flex_index=0, lift_calc=True)
	Returns a list of lift positions, efforts for a given flex position (vary by lift) More...
def	_get_const_lift_effort (data, lift_index=0, lift_calc=True)
def	_get_flex_positions (data)
def	_get_lift_positions (data)
def	_get_mean_abs_effort (avg_effort_array)
def	_get_mean_effort (avg_effort_array)
def	_get_mean_sq_effort (avg_effort_array)
def	analyze_flex_efforts (params, data)
	Checks shoulder flex efforts against params. More...
def	analyze_lift_efforts (params, data)
	Checks shoulder lift efforts against params. More...
def	calc_cb_adjust (data, model_file)
	Calculates CB adjustment. More...
def	check_cb_adjustment (params, data, model_file)
	Return CB adjustments to minimize total torque. More...
def	get_efforts (data, lift_calc)
	Get average efforts for CB test as a list. More...
def	plot_effort_contour (params, data, lift_calc=True)
	Gives effort contour plot of efforts by lift, flex position. More...
def	plot_efforts_by_lift_position (params, data, flex_index=-1, lift_calc=True)
	Plots CB efforts against shoulder lift position. More...
def	str_to_bytes (s)

Variables
dictionary	ok_dict = { False: 'FAIL', True: 'OK' }
string	PKG = 'pr2_counterbalance_check'
	Analyzes counterbalance data. More...

Function Documentation

def pr2_counterbalance_check.counterbalance_analysis._get_const_flex_effort (   data,   flex_index = 0,   lift_calc = True  )

private

Returns a list of lift positions, efforts for a given flex position (vary by lift)

Definition at line 216 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_const_lift_effort (   data,   lift_index = 0,   lift_calc = True  )

private

Definition at line 229 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_flex_positions (   data )

private

Definition at line 246 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_lift_positions (   data )

private

Definition at line 253 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_mean_abs_effort (   avg_effort_array )

private

Definition at line 208 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_mean_effort (   avg_effort_array )

private

Definition at line 212 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis._get_mean_sq_effort (   avg_effort_array )

private

Definition at line 204 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.analyze_flex_efforts	(		params,
			data
	)

Checks shoulder flex efforts against params.

Returns

CounterbalanceAnalysisResult

Definition at line 376 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.analyze_lift_efforts	(		params,
			data
	)

Checks shoulder lift efforts against params.

Returns

CounterbalanceAnalysisResult

Definition at line 334 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.calc_cb_adjust	(		data,
			model_file
	)

Calculates CB adjustment.

Returns

(secondary, arm_gimbal) : Turns CW

Definition at line 416 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.check_cb_adjustment	(		params,
			data,
			model_file
	)

Return CB adjustments to minimize total torque.

Uses CB adjustment/torque value from the model file. Model file is generated by 'test_pr2_self_test/counterbalance_training.py'

Parameters

params	CounterbalanceAnalysisParams
data	CounterbalanceAnalysisData
str	: Filename of model file

Definition at line 444 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.get_efforts	(		data,
			lift_calc
	)

Get average efforts for CB test as a list.

Parameters

lift_calc

bool : Lift or flex efforts

Definition at line 193 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.plot_effort_contour	(		params,
			data,
			lift_calc = True
	)

Gives effort contour plot of efforts by lift, flex position.

Parameters

params	CounterbalanceAnalysisParams : Input params
data	CounterbalanceAnalysisData : Test Data

Returns

qualification.msg.Plot : Plot message with contour

Definition at line 265 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.plot_efforts_by_lift_position	(		params,
			data,
			flex_index = -1,
			lift_calc = True
	)

Plots CB efforts against shoulder lift position.

Parameters

flex_index	int : Index of flex data to plot against
lift_calc	bool : Lift efforts or flex efforts

Definition at line 301 of file counterbalance_analysis.py.

def pr2_counterbalance_check.counterbalance_analysis.str_to_bytes

(

s

)

Definition at line 56 of file counterbalance_analysis.py.

Variable Documentation

dictionary pr2_counterbalance_check.counterbalance_analysis.ok_dict = { False: 'FAIL', True: 'OK' }

Definition at line 54 of file counterbalance_analysis.py.

string pr2_counterbalance_check.counterbalance_analysis.PKG = 'pr2_counterbalance_check'

Analyzes counterbalance data.

Author

Kevin Watts

Definition at line 38 of file counterbalance_analysis.py.