Integration test. More...

Functions
def	planAndExecute (q_dest)

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_Wr = velma.getTf("B", "Wr")

	T_B_Wl = velma.getTf("B", "Wl")

	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)

	T_B_Tr = velma.getTf("B", "Tr")

	T_B_Tr_old = T_B_Tr

	synchronized_time = rospy.Time.now() + rospy.Duration(0.5)

	T_B_Tl = velma.getTf("B", "Tl")

	T_B_Tld = T_B_Tl * PyKDL.Frame(PyKDL.Rotation.RotZ(-30.0/180.0*math.pi))

	stamp

Detailed Description

Integration test.

Function Documentation

◆ planAndExecute()

def scripts.test_cimp_pose.planAndExecute ( q_dest )

Definition at line 94 of file test_cimp_pose.py.

Variable Documentation

◆ diag

scripts.test_cimp_pose.diag = velma.getCoreCsDiag()

Definition at line 81 of file test_cimp_pose.py.

◆ error

scripts.test_cimp_pose.error = velma.waitForJoint()

Definition at line 124 of file test_cimp_pose.py.

◆ js

scripts.test_cimp_pose.js = velma.getLastJointState()

Definition at line 137 of file test_cimp_pose.py.

◆ js_init

scripts.test_cimp_pose.js_init = velma.getLastJointState()

Definition at line 144 of file test_cimp_pose.py.

◆ p

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

Definition at line 87 of file test_cimp_pose.py.

◆ q_map_1

dictionary scripts.test_cimp_pose.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_pose.py.

◆ q_map_starting

dictionary scripts.test_cimp_pose.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_pose.py.

◆ stamp

scripts.test_cimp_pose.stamp

Definition at line 288 of file test_cimp_pose.py.

◆ start_time

scripts.test_cimp_pose.start_time

Definition at line 123 of file test_cimp_pose.py.

◆ synchronized_time

scripts.test_cimp_pose.synchronized_time = rospy.Time.now() + rospy.Duration(0.5)

Definition at line 283 of file test_cimp_pose.py.

◆ T_B_T_diff

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

Definition at line 181 of file test_cimp_pose.py.

◆ T_B_Tl

scripts.test_cimp_pose.T_B_Tl = velma.getTf("B", "Tl")

Definition at line 286 of file test_cimp_pose.py.

◆ T_B_Tld

scripts.test_cimp_pose.T_B_Tld = T_B_Tl * PyKDL.Frame(PyKDL.Rotation.RotZ(-30.0/180.0*math.pi))

Definition at line 287 of file test_cimp_pose.py.

◆ T_B_Tr

scripts.test_cimp_pose.T_B_Tr = velma.getTf("B", "Tr")

Definition at line 188 of file test_cimp_pose.py.

◆ T_B_Tr_old

scripts.test_cimp_pose.T_B_Tr_old = T_B_Tr

Definition at line 232 of file test_cimp_pose.py.

◆ T_B_Trd

scripts.test_cimp_pose.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 174 of file test_cimp_pose.py.

◆ T_B_Wl

scripts.test_cimp_pose.T_B_Wl = velma.getTf("B", "Wl")

Definition at line 163 of file test_cimp_pose.py.

◆ T_B_Wr

scripts.test_cimp_pose.T_B_Wr = velma.getTf("B", "Wr")

Definition at line 162 of file test_cimp_pose.py.

◆ timeout_s

scripts.test_cimp_pose.timeout_s

Definition at line 76 of file test_cimp_pose.py.

◆ tolerance

scripts.test_cimp_pose.tolerance

Definition at line 138 of file test_cimp_pose.py.

◆ velma

scripts.test_cimp_pose.velma = VelmaInterface()

Definition at line 74 of file test_cimp_pose.py.

Functions

Variables