sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner Class Reference

Inheritance diagram for sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner:

Public Member Functions
def	__init__ (self, context)
def	on_btn_load_clicked_ (self)
def	on_btn_move_pressed_ (self, joint_name, btn)
def	on_btn_plot_pressed_ (self, joint_name, btn)
def	on_btn_refresh_ctrl_clicked_ (self)
def	on_btn_save_all_clicked_ (self)
def	on_btn_save_selected_clicked_ (self)
def	on_btn_select_file_path_clicked_ (self)
def	on_btn_set_all_clicked_ (self)
def	on_btn_set_selected_clicked_ (self)
def	on_btn_stop_mvts_clicked_ (self)
def	on_changed_controller_type_ (self, index=None)
def	prefix_selected (self, prefix)
def	read_settings (self, joint_name)
def	refresh_controller_tree_ (self, controller_type="Motor Force")
def	reset_file_path (self)
def	restore_settings (self, global_settings, perspective_settings)
def	save_controller (self, joint_name)
def	save_settings (self, global_settings, perspective_settings)
def	set_controller (self, joint_name)
def	shutdown_plugin (self)
Public Member Functions inherited from qt_gui::plugin::Plugin
def	__init__ (self, context)
def	restore_settings (self, plugin_settings, instance_settings)
def	save_settings (self, plugin_settings, instance_settings)
def	shutdown_plugin (self)

Public Attributes
	controller_type
	controllers_in_dropdown
	ctrl_widgets
	file_to_save
	move_threads
	sr_controller_tuner_app_

Private Member Functions
def	_unregisterPublisher (self)

Private Attributes
	_hand_finder
	_prefix
	_publisher
	_widget

Detailed Description

a rosgui plugin for tuning the sr_mechanism_controllers

Definition at line 243 of file controller_tuner.py.

Constructor & Destructor Documentation

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.__init__	(		self,
			context
	)

Definition at line 249 of file controller_tuner.py.

Member Function Documentation

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner._unregisterPublisher (   self )

private

Definition at line 697 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_load_clicked_

(

self

)

reload the parameters in rosparam, then refresh the tree widget

Definition at line 430 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_move_pressed_	(		self,
			joint_name,
			btn
	)

Definition at line 333 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_plot_pressed_	(		self,
			joint_name,
			btn
	)

Definition at line 329 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_refresh_ctrl_clicked_

(

self

)

Calls refresh_controller_tree_ after preparing widgets

Definition at line 483 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_save_all_clicked_

(

self

)

Save all controllers

Definition at line 455 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_save_selected_clicked_

(

self

)

Save only the selected controllers

Definition at line 441 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_select_file_path_clicked_

(

self

)

Perform controller tuning and save settings to user specified file
sr_config stack must be installed

Definition at line 361 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_set_all_clicked_

(

self

)

Sets the current values for all controllers using the ros service.

Definition at line 476 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_set_selected_clicked_

(

self

)

Sets the current values for selected controllers using the ros service.

Definition at line 462 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_btn_stop_mvts_clicked_

(

self

)

Definition at line 689 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.on_changed_controller_type_	(		self,
			index = None
	)

When controller type is changed clear the chosen file path and refresh the tree with the controller settings

Definition at line 338 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.prefix_selected	(		self,
			prefix
	)

Sets the prefix in the controller tuner app and
Refreshes the controllers

Definition at line 497 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.read_settings	(		self,
			joint_name
	)

retrieve settings for joint with given name

Definition at line 507 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.refresh_controller_tree_	(		self,
			controller_type = "Motor Force"
	)

Get the controller settings and their ranges and display them in the tree.
Buttons and plots will be added unless in edit_only mode.
Move button will be added if controller is position type
Buttons "set all" "set selected" and "stop movements" are disabled in edit_only_mode
Controller settings must exist for every motor of every finger in the yaml file.

Definition at line 553 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.reset_file_path

(

self

)

Clear the chosen file path and disable the save button until user selects another path

Definition at line 348 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.restore_settings	(		self,
			global_settings,
			perspective_settings
	)

Definition at line 708 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.save_controller	(		self,
			joint_name
	)

Saves the current values for the given controller using the ros service.

Definition at line 543 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.save_settings	(		self,
			global_settings,
			perspective_settings
	)

Definition at line 705 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.set_controller	(		self,
			joint_name
	)

Sets the current values for the given controller using the ros service.

Definition at line 525 of file controller_tuner.py.

def sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.shutdown_plugin

(

self

)

Definition at line 702 of file controller_tuner.py.

Member Data Documentation

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner._hand_finder

private

Definition at line 267 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner._prefix

private

Definition at line 269 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner._publisher

private

Definition at line 255 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner._widget

private

Definition at line 256 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.controller_type

Definition at line 253 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.controllers_in_dropdown

Definition at line 287 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.ctrl_widgets

Definition at line 291 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.file_to_save

Definition at line 258 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.move_threads

Definition at line 284 of file controller_tuner.py.

sr_gui_controller_tuner.controller_tuner.SrGuiControllerTuner.sr_controller_tuner_app_

Definition at line 294 of file controller_tuner.py.

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

• controller_tuner.py