scripts.test_cimp_imp Namespace Reference

Integration test. More...

Functions
def	planAndExecute (q_dest)
def	makeWrench (lx, ly, lz, rx, ry, rz)

Variables
dictionary	q_map_starting
dictionary	q_map_1
	velma = VelmaInterface()
	timeout_s
	diag = velma.getCoreCsDiag()
	p = Planner(velma.maxJointTrajLen())
	start_time
	error = velma.waitForJoint()
	js = velma.getLastJointState()
	tolerance
	js_init = velma.getLastJointState()
	T_B_Trd = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , 0.0 , 1.0 ), PyKDL.Vector( 0.7 , -0.3 , 1.3 ))
	T_B_T_diff = PyKDL.diff(T_B_Trd, velma.getTf("B", "Tr"), 1.0)
list	imp_list

Detailed Description

Integration test.

Function Documentation

makeWrench()

def scripts.test_cimp_imp.makeWrench	(		lx,
			ly,
			lz,
			rx,
			ry,
			rz
	)

Definition at line 121 of file test_cimp_imp.py.

planAndExecute()

def scripts.test_cimp_imp.planAndExecute

(

q_dest

)

Definition at line 97 of file test_cimp_imp.py.

Variable Documentation

diag

scripts.test_cimp_imp.diag = velma.getCoreCsDiag()

Definition at line 84 of file test_cimp_imp.py.

error

scripts.test_cimp_imp.error = velma.waitForJoint()

Definition at line 126 of file test_cimp_imp.py.

imp_list

list scripts.test_cimp_imp.imp_list

Initial value:

=  [makeWrench(1000,1000,1000,150,150,150),
                makeWrench(1000,1000,500,150,150,150),
                makeWrench(1000,1000,250,150,150,150),
                makeWrench(1000,1000,125,150,150,150)]

Definition at line 183 of file test_cimp_imp.py.

js

scripts.test_cimp_imp.js = velma.getLastJointState()

Definition at line 139 of file test_cimp_imp.py.

js_init

scripts.test_cimp_imp.js_init = velma.getLastJointState()

Definition at line 146 of file test_cimp_imp.py.

p

scripts.test_cimp_imp.p = Planner(velma.maxJointTrajLen())

Definition at line 90 of file test_cimp_imp.py.

q_map_1

dictionary scripts.test_cimp_imp.q_map_1

Initial value:

=  {'torso_0_joint':0.0,
        'right_arm_0_joint':-0.3,   'left_arm_0_joint':0.3,
        'right_arm_1_joint':-1.57,  'left_arm_1_joint':1.57,
        'right_arm_2_joint':1.57,   'left_arm_2_joint':-1.57,
        'right_arm_3_joint':1.57,   'left_arm_3_joint':-1.7,
        'right_arm_4_joint':0.0,    'left_arm_4_joint':0.0,
        'right_arm_5_joint':-1.57,  'left_arm_5_joint':1.57,
        'right_arm_6_joint':0.0,    'left_arm_6_joint':0.0 }

Definition at line 57 of file test_cimp_imp.py.

q_map_starting

dictionary scripts.test_cimp_imp.q_map_starting

Initial value:

=  {'torso_0_joint':0,
        'right_arm_0_joint':-0.3,   'left_arm_0_joint':0.3,
        'right_arm_1_joint':-1.8,   'left_arm_1_joint':1.8,
        'right_arm_2_joint':1.25,   'left_arm_2_joint':-1.25,
        'right_arm_3_joint':0.85,   'left_arm_3_joint':-0.85,
        'right_arm_4_joint':0,      'left_arm_4_joint':0,
        'right_arm_5_joint':-0.5,   'left_arm_5_joint':0.5,
        'right_arm_6_joint':0,      'left_arm_6_joint':0 }

Definition at line 48 of file test_cimp_imp.py.

start_time

scripts.test_cimp_imp.start_time

Definition at line 125 of file test_cimp_imp.py.

T_B_T_diff

scripts.test_cimp_imp.T_B_T_diff = PyKDL.diff(T_B_Trd, velma.getTf("B", "Tr"), 1.0)

Definition at line 177 of file test_cimp_imp.py.

T_B_Trd

scripts.test_cimp_imp.T_B_Trd = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , 0.0 , 1.0 ), PyKDL.Vector( 0.7 , -0.3 , 1.3 ))

Definition at line 170 of file test_cimp_imp.py.

timeout_s

scripts.test_cimp_imp.timeout_s

Definition at line 76 of file test_cimp_imp.py.

tolerance

scripts.test_cimp_imp.tolerance

Definition at line 140 of file test_cimp_imp.py.

velma

scripts.test_cimp_imp.velma = VelmaInterface()

Definition at line 74 of file test_cimp_imp.py.