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

	T_Wr_Gr = velma.getTf("Wr", "Gr")

Detailed Description

Integration test.

Function Documentation

◆ planAndExecute()

def scripts.test_cimp_tool.planAndExecute ( q_dest )

Definition at line 97 of file test_cimp_tool.py.

Variable Documentation

◆ diag

scripts.test_cimp_tool.diag = velma.getCoreCsDiag()

Definition at line 84 of file test_cimp_tool.py.

◆ error

scripts.test_cimp_tool.error = velma.waitForJoint()

Definition at line 123 of file test_cimp_tool.py.

◆ js

scripts.test_cimp_tool.js = velma.getLastJointState()

Definition at line 136 of file test_cimp_tool.py.

◆ js_init

scripts.test_cimp_tool.js_init = velma.getLastJointState()

Definition at line 143 of file test_cimp_tool.py.

◆ p

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

Definition at line 90 of file test_cimp_tool.py.

◆ q_map_1

dictionary scripts.test_cimp_tool.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_tool.py.

◆ q_map_starting

dictionary scripts.test_cimp_tool.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_tool.py.

◆ start_time

scripts.test_cimp_tool.start_time

Definition at line 122 of file test_cimp_tool.py.

◆ T_B_T_diff

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

Definition at line 171 of file test_cimp_tool.py.

◆ T_B_Tr

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

Definition at line 177 of file test_cimp_tool.py.

◆ T_B_Trd

scripts.test_cimp_tool.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 164 of file test_cimp_tool.py.

◆ T_B_Wr

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

Definition at line 186 of file test_cimp_tool.py.

◆ T_Wr_Gr

scripts.test_cimp_tool.T_Wr_Gr = velma.getTf("Wr", "Gr")

Definition at line 187 of file test_cimp_tool.py.

◆ timeout_s

scripts.test_cimp_tool.timeout_s

Definition at line 76 of file test_cimp_tool.py.

◆ tolerance

scripts.test_cimp_tool.tolerance

Definition at line 137 of file test_cimp_tool.py.

◆ velma

scripts.test_cimp_tool.velma = VelmaInterface()

Definition at line 74 of file test_cimp_tool.py.

Functions

Variables