Runs test for motions in cart_imp mode. More...

Functions
def	scripts.test_cimp_pose.planAndExecute (q_dest)

Variables
dictionary	scripts.test_cimp_pose.q_map_starting

dictionary	scripts.test_cimp_pose.q_map_1

	scripts.test_cimp_pose.velma = VelmaInterface()

	scripts.test_cimp_pose.timeout_s

	scripts.test_cimp_pose.diag = velma.getCoreCsDiag()

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

	scripts.test_cimp_pose.start_time

	scripts.test_cimp_pose.error = velma.waitForJoint()

	scripts.test_cimp_pose.js = velma.getLastJointState()

	scripts.test_cimp_pose.tolerance

	scripts.test_cimp_pose.js_init = velma.getLastJointState()

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

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

	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 ))

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

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

	scripts.test_cimp_pose.T_B_Tr_old = T_B_Tr

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

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

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

	scripts.test_cimp_pose.stamp

Detailed Description

Runs test for motions in cart_imp mode.

Definition in file test_cimp_pose.py.

Namespaces